Mathematical model of control of virtual model of anthropomorphic gripper

The article considers the problem of computer simulation of the working body of the robot for anthropomorphic grasping and holding items of various configuration. Control algorithm, which produces refinement of the coordinates of the control object obtained from the vision system, and engaged in the capture and retention of the object with a given force is proposed. The computer model, made in the form of an algorithm in the environment of mathematical modeling MATLAB Mathworks is presented. The results of a series of mathematical experiments to assess the efficiency of the algorithm are demonstrated.