چكيده به لاتين
For more than three decades, the subject of manipulation and Grasping of rigid objects by robotic hands has been developed and researched, but in the field of deformable objects due to many challenges, no extensive study has been done. Due to the high degree of freedom, these objects have complex calculations and make simulation difficult. On the other hand, predicting the deformation of soft objects in interaction with the environment as well as the best position of the hand to grasp the object is challenging. Therefore, the goal is to model a deformable object and analyze it to achieve the best possible state for grasping and moving it. In this Thesis, we simulate a deformable object using the Mass-Spring_Damper (MSD) technique, which is a convenient method for real-time applications. Next, to grasp the object, we do the analysis. We also take into account the best positioning, contact detection and penetration depth to calculate the force exerted by the hand on the object. Then we use the PSO algorithm to achieve the best performance in modeling and selecting the best parameters. Finally, after satisfying the static equilibrium, we model the RRR mechanical arm and thus move the deformable object from one position to another.
