Sliding-rolling contact and in-hand manipulation

著者

• Cui, Lei (Mechanical engineer)
• Dai, Jian S.

書誌事項

Sliding-rolling contact and in-hand manipulation

Lei Cui, Jian S. Dai

World Scientific, c2020

• : hardcover

注記

Includes bibliographical references (p. 195-202) and index

内容説明・目次

内容説明

Robots interact with the world through curves and surfaces - the subjects of study in differential geometry. This book applies the moving-frame method, developed extensively by Elie Cartan, and the adjoint approach, conceived by Ernesto Cesaro, to study the kinematics of two surfaces subject to rolling contact and sliding-rolling contact to demonstrate the applications in robotic in-hand manipulation.Firstly, it explores two surfaces, and the geometry of both surfaces comes into play. Secondly, the book focuses on the geometry of the two surfaces within the encompassing space (extrinsic) rather than within the surfaces (intrinsic) because the book is concerned with the kinematics of one surface in three-dimensional Euclidean space - the real world. The book then concludes by applying this approach in robotic in-hand manipulation in the last chapter.

「Nielsen BookData」 より

詳細情報

• NII書誌ID(NCID): BD05368860
• ISBN:
  • 9781786348425
• LCCN: 2020007882
• 出版国コード: us
• タイトル言語コード: eng
• 本文言語コード: eng
• 出版地: New Jersey ; Tokyo
• ページ数/冊数: xv, 205 p.
• 大きさ: 24 cm
• 分類:
  • LCC : TJ211.35
  • DC23 : 629.8/95
• 件名:
  • LCSH : Robots -- Control systems
  • LCSH : Robot hands -- Control systems
  • LCSH : Sliding mode control
  • LCSH : Rolling contact
  • LCSH : Geometry, Differential