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Robotic Grasping and Fine Manipulation

BuchKartoniert, Paperback
192 Seiten
Englisch
Springererschienen am01.03.2012Softcover reprint of the original 1st ed. 1985
When a person picks up a metal part and clamps it in the chuck of a lathe, he begins with his arm, proceeds with his wrist and finishes with his fingers. Little work has been done on grasping and fine manipulation with a robot hand or wrist, but the related subjects of robot arm dynamics and control have an extensive literature.mehr
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BuchKartoniert, Paperback
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Produkt

KlappentextWhen a person picks up a metal part and clamps it in the chuck of a lathe, he begins with his arm, proceeds with his wrist and finishes with his fingers. Little work has been done on grasping and fine manipulation with a robot hand or wrist, but the related subjects of robot arm dynamics and control have an extensive literature.
Details
ISBN/GTIN978-1-4684-6893-9
ProduktartBuch
EinbandartKartoniert, Paperback
Verlag
Erscheinungsjahr2012
Erscheinungsdatum01.03.2012
AuflageSoftcover reprint of the original 1st ed. 1985
ReiheThe Springer International Series in Engineering and Computer Science
Seiten192 Seiten
SpracheEnglisch
Illustrationen192 p.
Artikel-Nr.29953132

Inhalt/Kritik

Inhaltsverzeichnis
1. Introduction.- 2. Previous Investigations of Fine Manipulation and Grasping.- 2.1 Fine Motion and Control.- 2.2 Robotic Wrists.- 2.3 Applications to Assembly and Surface Finishing Tasks.- 2.4 Passive Hands and Grippers.- 2.5 Active Hands and Grasping.- 3. Robot Tasks in a Metal-Working Cell.- 3.1 Task Descriptions.- 3.2 Discussion: Coupled Fine and Gross Motions.- 4. A Wrist for Fine-Motion Tasks.- 4.1 Wrist Description.- 4.2 Control Architecture.- 4.3 Experiments.- 4.4 Discussion of Results.- 5. Analysis for an Active Robot Hand.- 5.1 The Promise of Further Dexterity.- 5.2 Introduction to Grasp Analysis.- 5.3 Extension to Three-Dimensional Problems.- 5.4 A Closer Look at Contact Conditions.- 5.5 Examples.- 5.6 Summary.- 6. Natural Examples of Grasping.- 6.1 The Human Hand.- 6.2 Other Natural Examples.- 7. Designing Hands and Wrists for Manufacturing.- 7.1 Wrist Design.- 7.2 Hand Design.- 7.3 Control.- 8. Summary and Conclusions.- Appendix for Grasp Analysis.- A.1 Matrix Identities.- A.2 Matrix Method for Under Determined Finger Motions.- A.3 Differential Jacobians.- A.4 Rolling Contact.- A.5 Details for Examples in Section 5.5.- References.mehr