BarretArm.world File Reference

Detailed Description

The Barret arm in open loop.

Note that the fingers are uncoupled, while in the true hand they are coupled, and adapt to the held object. Mechanically coupled joints can be modelled but not adaptive underactuated ones (see L. Birglen, C. Gosselin, and T. Laliberte, Underactuated robotic hands, Tracks in Advanced Robotics. Springer Verlag, 2008, vol. 40. for more details).

You can manipulate the different degrees of freedom using

Definition in file BarretArm.world.