The mechanics of robot grasping

著者

    • Rimon, Elon
    • Burdick, Joel Wakeman

書誌事項

The mechanics of robot grasping

Elon Rimon, Joel Burdick

Cambridge University Press, 2019

  • : hbk

大学図書館所蔵 件 / 全1件

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注記

Includes bibliographical references and index

内容説明・目次

内容説明

In this comprehensive textbook about robot grasping, readers will discover an integrated look at the major concepts and technical results in robot grasp mechanics. A large body of prior research, including key theories, graphical techniques, and insights on robot hand designs, is organized into a systematic review, using common notation and a common analytical framework. With introductory and advanced chapters that support senior undergraduate and graduate level robotics courses, this book provides a full introduction to robot grasping principles that are needed to model and analyze multi-finger robot grasps, and serves as a valuable reference for robotics students, researchers, and practicing robot engineers. Each chapter contains many worked-out examples, exercises with full solutions, and figures that highlight new concepts and help the reader master the use of the theories and equations presented.

目次

  • 1. Introduction and overview
  • Part I. Basic Geometry of the Grasping Process: 2. Rigid-body configuration space
  • 3. Configuration space tangent and cotangent vectors
  • 4. Rigid body equilibrium grasps
  • 5. A catalog of equilibrium grasps
  • Part II. Frictionless Rigid Body Grasps and Stances: 6. Introduction to secure grasps
  • 7. First-order immobilizing grasps
  • 8. Second-order immobilizing grasps
  • 9. Minimal immobilizing grasps
  • 10. Multi-finger caging grasps
  • 11. Frictionless hand supported stances under gravity
  • Part III. Frictional Rigid-Body Grasps, Fixtures, and Stances: 12. Wrench resistant grasps
  • 13. Grasp quality functions
  • 14. Hand supported stances under gravity - Part I
  • 15. Hand supported stances under gravity - Part II
  • Part IV. Grasping Mechanisms: 16. The kinematics and mechanics of grasping mechanisms
  • 17. Grasp manipulability
  • 18. Hand mechanism compliance
  • Appendices
  • Index.

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