The mechanics of robot grasping:
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 sy...
Gespeichert in:
| Hauptverfasser: | , |
|---|---|
| Format: | Elektronisch E-Book |
| Sprache: | English |
| Veröffentlicht: |
Cambridge, United Kingdom
Cambridge University Press
2019
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| Schlagworte: | |
| Online-Zugang: | BSB01 FHN01 UER01 Volltext |
| Zusammenfassung: | 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 |
| Beschreibung: | Title from publisher's bibliographic system (viewed on 11 Oct 2019) Introduction and overview page -- Rigid-body configuration space -- Configuration space tangent and cotangent vectors -- Rigid body equilibrium grasps -- A catalog of equilibrium grasps -- Introduction to secure grasps -- First-order immobilizing grasps -- Second-order immobilizing grasps -- Minimal immobilizing grasps -- Multi-finger caging grasps -- Frictionless H and supported stances under gravity -- Wrench resistant grasps -- Grasp quality functions -- Hand supported stances under gravity, part I -- Hand supported stances under gravity, part II -- The kinematics and mechanics of grasping mechanisms -- Grasp manipulability -- Hand mechanism compliance |
| Beschreibung: | 1 Online-Ressource (ix, 497 Seiten) |
| ISBN: | 9781108552011 |
| DOI: | 10.1017/9781108552011 |
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| 520 | |a 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 | ||
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Datensatz im Suchindex
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| author | Rimon, Elon ca. 20./21. Jh Burdick, Joel ca. 20./21. Jh |
| author_GND | (DE-588)1200367170 (DE-588)1200367596 |
| author_facet | Rimon, Elon ca. 20./21. Jh Burdick, Joel ca. 20./21. Jh |
| author_role | aut aut |
| author_sort | Rimon, Elon ca. 20./21. Jh |
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| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| doi_str_mv | 10.1017/9781108552011 |
| format | Electronic eBook |
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| isbn | 9781108552011 |
| language | English |
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| spelling | Rimon, Elon ca. 20./21. Jh. (DE-588)1200367170 aut The mechanics of robot grasping Elon Rimon, Technion – Israel Institute of Technology ; Joel Burdick, Caltech – California Institute of Technology Cambridge, United Kingdom Cambridge University Press 2019 1 Online-Ressource (ix, 497 Seiten) txt rdacontent c rdamedia cr rdacarrier Title from publisher's bibliographic system (viewed on 11 Oct 2019) Introduction and overview page -- Rigid-body configuration space -- Configuration space tangent and cotangent vectors -- Rigid body equilibrium grasps -- A catalog of equilibrium grasps -- Introduction to secure grasps -- First-order immobilizing grasps -- Second-order immobilizing grasps -- Minimal immobilizing grasps -- Multi-finger caging grasps -- Frictionless H and supported stances under gravity -- Wrench resistant grasps -- Grasp quality functions -- Hand supported stances under gravity, part I -- Hand supported stances under gravity, part II -- The kinematics and mechanics of grasping mechanisms -- Grasp manipulability -- Hand mechanism compliance 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 Robot hands / Textbooks Mechanical movements / Textbooks Robotics / Textbooks Greifen (DE-588)4158131-3 gnd rswk-swf Roboter (DE-588)4050208-9 gnd rswk-swf Roboter (DE-588)4050208-9 s Greifen (DE-588)4158131-3 s DE-604 Burdick, Joel ca. 20./21. Jh. (DE-588)1200367596 aut Erscheint auch als Druck-Ausgabe, Hardcover 978-1-108-42790-6 https://doi.org/10.1017/9781108552011 Verlag URL des Erstveröffentlichers Volltext |
| spellingShingle | Rimon, Elon ca. 20./21. Jh Burdick, Joel ca. 20./21. Jh The mechanics of robot grasping Robot hands / Textbooks Mechanical movements / Textbooks Robotics / Textbooks Greifen (DE-588)4158131-3 gnd Roboter (DE-588)4050208-9 gnd |
| subject_GND | (DE-588)4158131-3 (DE-588)4050208-9 |
| title | The mechanics of robot grasping |
| title_auth | The mechanics of robot grasping |
| title_exact_search | The mechanics of robot grasping |
| title_full | The mechanics of robot grasping Elon Rimon, Technion – Israel Institute of Technology ; Joel Burdick, Caltech – California Institute of Technology |
| title_fullStr | The mechanics of robot grasping Elon Rimon, Technion – Israel Institute of Technology ; Joel Burdick, Caltech – California Institute of Technology |
| title_full_unstemmed | The mechanics of robot grasping Elon Rimon, Technion – Israel Institute of Technology ; Joel Burdick, Caltech – California Institute of Technology |
| title_short | The mechanics of robot grasping |
| title_sort | the mechanics of robot grasping |
| topic | Robot hands / Textbooks Mechanical movements / Textbooks Robotics / Textbooks Greifen (DE-588)4158131-3 gnd Roboter (DE-588)4050208-9 gnd |
| topic_facet | Robot hands / Textbooks Mechanical movements / Textbooks Robotics / Textbooks Greifen Roboter |
| url | https://doi.org/10.1017/9781108552011 |
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