Fundamentals of robotic grasping and fixturing /:
This book provides a fundamental knowledge of robotic grasping and fixturing (RGF) manipulation. For RGF manipulation to become a science rather than an art, the content of the book is uniquely designed for a thorough understanding of the RGF from the multifingered robot hand grasp, basic fixture de...
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Weitere Verfasser: | , |
| Format: | Elektronisch E-Book |
| Sprache: | English |
| Veröffentlicht: |
Singapore ; Hackensack, NJ :
World Scientific,
©2007.
|
| Schriftenreihe: | Series on manufacturing systems and technology ;
v. 3. |
| Schlagworte: | |
| Online-Zugang: | DE-862 DE-863 |
| Zusammenfassung: | This book provides a fundamental knowledge of robotic grasping and fixturing (RGF) manipulation. For RGF manipulation to become a science rather than an art, the content of the book is uniquely designed for a thorough understanding of the RGF from the multifingered robot hand grasp, basic fixture design principle, and evaluating and planning of robotic grasping/fixturing, and focuses on the modeling and applications of the RGF. Compared with existing publications, this volume concentrates more on abstract formulation, i.e. mathematical modeling of robotic grasping and fixturing. Thus, it will. |
| Beschreibung: | 1 online resource (x, 218 pages) : illustrations |
| Bibliographie: | Includes bibliographical references and index. |
| ISBN: | 9789812771841 9812771840 |
Internformat
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| 245 | 1 | 0 | |a Fundamentals of robotic grasping and fixturing / |c Caihua Xiong, Han Ding, Youlun Xiong. |
| 260 | |a Singapore ; |a Hackensack, NJ : |b World Scientific, |c ©2007. | ||
| 300 | |a 1 online resource (x, 218 pages) : |b illustrations | ||
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| 490 | 1 | |a Series on manufacturing systems and technology ; |v v. 3 | |
| 504 | |a Includes bibliographical references and index. | ||
| 588 | 0 | |a Print version record. | |
| 505 | 0 | |a Preface; Contents; Chapter 1 Robotic Grasp and Workpiece-Fixture Systems; 1.1 Introduction; 1.2 Robotic Manipulation and Multifingered Robotic Hands; 1.3 AMT and Fixtures; 1.4 Comparison between Grasping and Fixturing; 1.5 Bibliography; Chapter 2 Qualitative Analysis and Quantitative Evaluation of Form-Closure Grasping/Fixturing; 2.1 Introduction; 2.2 Qualitative Analysis; 2.2.1 Kinematic Characteristics of Grasping/Fixturing; 2.2.2 Discriminances of Form-Closure Grasping/Fixturing; 2.2.3 Minimum Number of Contacts with Frictionless; 2.3 Quantitative Evaluation; 2.3.1 Evaluation Criteria. | |
| 505 | 8 | |a 2.3.2 Numerical Example2.4 Summary; 2.5 Bibliography; Chapter 3 Stability Index and Contact Configuration Planning of Force-Closure Grasping/Fixturing; 3.1 Introduction; 3.2 Description of Contacts with Friction; 3.3 Conditions of Force Closure Grasp; 3.4 Grasp Stability Index; 3.4.1 Definition of the Grasp Stability Index; 3.4.2 Some Properties of the Index; 3.4.3 Contact Configuration Planning; 3.5 Examples; 3.6 Summary; 3.7 Bibliography; Chapter 4 Active Grasp Force Planning; 4.1 Introduction; 4.2 Nonlinear Programming in Grasp; 4.3 Force Planning Using Neural Networks; 4.4 Simulation. | |
| 505 | 8 | |a 4.5 Summary4.6 Bibliography; Chapter 5 Grasp Capability Analysis; 5.1 Introduction; 5.2 Evaluation of Multifingered Grasp Capability; 5.3 Numerical Example; 5.4 Summary; 5.5 Bibliography; Chapter 6 Compliant Grasping with Passive Forces; 6.1 Introduction; 6.2 The Model of Compliant Grasping/Fixturing; 6.3 Local Elastic Contact Model; 6.4 Deformation Compatible Constraints for All Contacts; 6.5 Stability of Grasping/Fixturing Systems; 6.6 Passive Force Closure Prediction; 6.7 Numerical Example; 6.8 Summary; 6.9 Bibliography; Chapter 7 Kinematics of Contacts and Rolling Manipulation. | |
| 505 | 8 | |a 7.1 Introduction7.2 Kinematics of Pure Rolling Contact; 7.3 Kinematics of Manipulation with Rolling Contact; 7.4 Coordinating Manipulation of Multifingered Robotic Hands; 7.4.1 Classification of Grasp Phases; 7.4.2 Coordinating Manipulation Strategy; 7.5 Adjustment of Fingertip Contact Forces; 7.6 Experimental Results; 7.7 Summary; 7.8 Bibliography; Chapter 8 Dynamic Stability of Grasping/Fixturing; 8.1 Introduction; 8.2 Dynamic Equations of Motion for a Grasped/Fixtured Object; 8.3 Dynamic Stability Conditions and Quality Measure; 8.4 Summary; 8.5 Bibliography. | |
| 505 | 8 | |a Chapter 9 Locating Error Analysis and Configuration Planning of Fixtures9.1 Introduction; 9.2 Error Mapping Model; 9.2.1 Fully Constrained Localization; 9.2.2 Over Constrained Localization; 9.2.3 Under Constrained Localization; 9.3 Locator and Clamp Configuration Characteristics; 9.3.1 Locator Configuration Characteristics; 9.3.2 Clamp Configuration Characteristics; 9.4 Evaluation Indexes of Fixturing; 9.4.1 Evaluation Index of Locator Configurations; 9.4.2 Stability Index of Fixturing; 9.4.3 Fixturing Resultant Index; 9.5 Configuration Planning of Fixturing; 9.5.1 Constraints. | |
| 520 | |a This book provides a fundamental knowledge of robotic grasping and fixturing (RGF) manipulation. For RGF manipulation to become a science rather than an art, the content of the book is uniquely designed for a thorough understanding of the RGF from the multifingered robot hand grasp, basic fixture design principle, and evaluating and planning of robotic grasping/fixturing, and focuses on the modeling and applications of the RGF. Compared with existing publications, this volume concentrates more on abstract formulation, i.e. mathematical modeling of robotic grasping and fixturing. Thus, it will. | ||
| 650 | 0 | |a Robots |x Motion |x Mathematical models. | |
| 650 | 0 | |a Robot hands |x Design and construction. | |
| 650 | 6 | |a Robots |x Mouvements |x Modèles mathématiques. | |
| 650 | 7 | |a TECHNOLOGY & ENGINEERING |x Automation. |2 bisacsh | |
| 650 | 7 | |a Robot hands |x Design and construction |2 fast | |
| 650 | 7 | |a Robots |x Motion |x Mathematical models |2 fast | |
| 655 | 0 | |a Electronic books. | |
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| author | Xiong, Caihua |
| author2 | Ding, Han, 1963- Xiong, You-Lun |
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| contents | Preface; Contents; Chapter 1 Robotic Grasp and Workpiece-Fixture Systems; 1.1 Introduction; 1.2 Robotic Manipulation and Multifingered Robotic Hands; 1.3 AMT and Fixtures; 1.4 Comparison between Grasping and Fixturing; 1.5 Bibliography; Chapter 2 Qualitative Analysis and Quantitative Evaluation of Form-Closure Grasping/Fixturing; 2.1 Introduction; 2.2 Qualitative Analysis; 2.2.1 Kinematic Characteristics of Grasping/Fixturing; 2.2.2 Discriminances of Form-Closure Grasping/Fixturing; 2.2.3 Minimum Number of Contacts with Frictionless; 2.3 Quantitative Evaluation; 2.3.1 Evaluation Criteria. 2.3.2 Numerical Example2.4 Summary; 2.5 Bibliography; Chapter 3 Stability Index and Contact Configuration Planning of Force-Closure Grasping/Fixturing; 3.1 Introduction; 3.2 Description of Contacts with Friction; 3.3 Conditions of Force Closure Grasp; 3.4 Grasp Stability Index; 3.4.1 Definition of the Grasp Stability Index; 3.4.2 Some Properties of the Index; 3.4.3 Contact Configuration Planning; 3.5 Examples; 3.6 Summary; 3.7 Bibliography; Chapter 4 Active Grasp Force Planning; 4.1 Introduction; 4.2 Nonlinear Programming in Grasp; 4.3 Force Planning Using Neural Networks; 4.4 Simulation. 4.5 Summary4.6 Bibliography; Chapter 5 Grasp Capability Analysis; 5.1 Introduction; 5.2 Evaluation of Multifingered Grasp Capability; 5.3 Numerical Example; 5.4 Summary; 5.5 Bibliography; Chapter 6 Compliant Grasping with Passive Forces; 6.1 Introduction; 6.2 The Model of Compliant Grasping/Fixturing; 6.3 Local Elastic Contact Model; 6.4 Deformation Compatible Constraints for All Contacts; 6.5 Stability of Grasping/Fixturing Systems; 6.6 Passive Force Closure Prediction; 6.7 Numerical Example; 6.8 Summary; 6.9 Bibliography; Chapter 7 Kinematics of Contacts and Rolling Manipulation. 7.1 Introduction7.2 Kinematics of Pure Rolling Contact; 7.3 Kinematics of Manipulation with Rolling Contact; 7.4 Coordinating Manipulation of Multifingered Robotic Hands; 7.4.1 Classification of Grasp Phases; 7.4.2 Coordinating Manipulation Strategy; 7.5 Adjustment of Fingertip Contact Forces; 7.6 Experimental Results; 7.7 Summary; 7.8 Bibliography; Chapter 8 Dynamic Stability of Grasping/Fixturing; 8.1 Introduction; 8.2 Dynamic Equations of Motion for a Grasped/Fixtured Object; 8.3 Dynamic Stability Conditions and Quality Measure; 8.4 Summary; 8.5 Bibliography. Chapter 9 Locating Error Analysis and Configuration Planning of Fixtures9.1 Introduction; 9.2 Error Mapping Model; 9.2.1 Fully Constrained Localization; 9.2.2 Over Constrained Localization; 9.2.3 Under Constrained Localization; 9.3 Locator and Clamp Configuration Characteristics; 9.3.1 Locator Configuration Characteristics; 9.3.2 Clamp Configuration Characteristics; 9.4 Evaluation Indexes of Fixturing; 9.4.1 Evaluation Index of Locator Configurations; 9.4.2 Stability Index of Fixturing; 9.4.3 Fixturing Resultant Index; 9.5 Configuration Planning of Fixturing; 9.5.1 Constraints. |
| ctrlnum | (OCoLC)646768439 |
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| dewey-search | 629.8/933 |
| dewey-sort | 3629.8 3933 |
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| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Electronic eBook |
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Compliant Grasping/Fixturing; 6.3 Local Elastic Contact Model; 6.4 Deformation Compatible Constraints for All Contacts; 6.5 Stability of Grasping/Fixturing Systems; 6.6 Passive Force Closure Prediction; 6.7 Numerical Example; 6.8 Summary; 6.9 Bibliography; Chapter 7 Kinematics of Contacts and Rolling Manipulation.</subfield></datafield><datafield tag="505" ind1="8" ind2=" "><subfield code="a">7.1 Introduction7.2 Kinematics of Pure Rolling Contact; 7.3 Kinematics of Manipulation with Rolling Contact; 7.4 Coordinating Manipulation of Multifingered Robotic Hands; 7.4.1 Classification of Grasp Phases; 7.4.2 Coordinating Manipulation Strategy; 7.5 Adjustment of Fingertip Contact Forces; 7.6 Experimental Results; 7.7 Summary; 7.8 Bibliography; Chapter 8 Dynamic Stability of Grasping/Fixturing; 8.1 Introduction; 8.2 Dynamic Equations of Motion for a Grasped/Fixtured Object; 8.3 Dynamic Stability Conditions and Quality Measure; 8.4 Summary; 8.5 Bibliography.</subfield></datafield><datafield 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| genre | Electronic books. |
| genre_facet | Electronic books. |
| id | ZDB-4-EBA-ocn646768439 |
| illustrated | Illustrated |
| indexdate | 2025-04-11T08:36:47Z |
| institution | BVB |
| isbn | 9789812771841 9812771840 |
| language | English |
| oclc_num | 646768439 |
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| physical | 1 online resource (x, 218 pages) : illustrations |
| psigel | ZDB-4-EBA FWS_PDA_EBA ZDB-4-EBA |
| publishDate | 2007 |
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| publisher | World Scientific, |
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| series | Series on manufacturing systems and technology ; |
| series2 | Series on manufacturing systems and technology ; |
| spelling | Xiong, Caihua. https://id.oclc.org/worldcat/entity/E39PCjBmtVdbdtKtYWxYcgGwT3 http://id.loc.gov/authorities/names/no2008044411 Fundamentals of robotic grasping and fixturing / Caihua Xiong, Han Ding, Youlun Xiong. Singapore ; Hackensack, NJ : World Scientific, ©2007. 1 online resource (x, 218 pages) : illustrations text txt rdacontent computer c rdamedia online resource cr rdacarrier data file rda Series on manufacturing systems and technology ; v. 3 Includes bibliographical references and index. Print version record. Preface; Contents; Chapter 1 Robotic Grasp and Workpiece-Fixture Systems; 1.1 Introduction; 1.2 Robotic Manipulation and Multifingered Robotic Hands; 1.3 AMT and Fixtures; 1.4 Comparison between Grasping and Fixturing; 1.5 Bibliography; Chapter 2 Qualitative Analysis and Quantitative Evaluation of Form-Closure Grasping/Fixturing; 2.1 Introduction; 2.2 Qualitative Analysis; 2.2.1 Kinematic Characteristics of Grasping/Fixturing; 2.2.2 Discriminances of Form-Closure Grasping/Fixturing; 2.2.3 Minimum Number of Contacts with Frictionless; 2.3 Quantitative Evaluation; 2.3.1 Evaluation Criteria. 2.3.2 Numerical Example2.4 Summary; 2.5 Bibliography; Chapter 3 Stability Index and Contact Configuration Planning of Force-Closure Grasping/Fixturing; 3.1 Introduction; 3.2 Description of Contacts with Friction; 3.3 Conditions of Force Closure Grasp; 3.4 Grasp Stability Index; 3.4.1 Definition of the Grasp Stability Index; 3.4.2 Some Properties of the Index; 3.4.3 Contact Configuration Planning; 3.5 Examples; 3.6 Summary; 3.7 Bibliography; Chapter 4 Active Grasp Force Planning; 4.1 Introduction; 4.2 Nonlinear Programming in Grasp; 4.3 Force Planning Using Neural Networks; 4.4 Simulation. 4.5 Summary4.6 Bibliography; Chapter 5 Grasp Capability Analysis; 5.1 Introduction; 5.2 Evaluation of Multifingered Grasp Capability; 5.3 Numerical Example; 5.4 Summary; 5.5 Bibliography; Chapter 6 Compliant Grasping with Passive Forces; 6.1 Introduction; 6.2 The Model of Compliant Grasping/Fixturing; 6.3 Local Elastic Contact Model; 6.4 Deformation Compatible Constraints for All Contacts; 6.5 Stability of Grasping/Fixturing Systems; 6.6 Passive Force Closure Prediction; 6.7 Numerical Example; 6.8 Summary; 6.9 Bibliography; Chapter 7 Kinematics of Contacts and Rolling Manipulation. 7.1 Introduction7.2 Kinematics of Pure Rolling Contact; 7.3 Kinematics of Manipulation with Rolling Contact; 7.4 Coordinating Manipulation of Multifingered Robotic Hands; 7.4.1 Classification of Grasp Phases; 7.4.2 Coordinating Manipulation Strategy; 7.5 Adjustment of Fingertip Contact Forces; 7.6 Experimental Results; 7.7 Summary; 7.8 Bibliography; Chapter 8 Dynamic Stability of Grasping/Fixturing; 8.1 Introduction; 8.2 Dynamic Equations of Motion for a Grasped/Fixtured Object; 8.3 Dynamic Stability Conditions and Quality Measure; 8.4 Summary; 8.5 Bibliography. Chapter 9 Locating Error Analysis and Configuration Planning of Fixtures9.1 Introduction; 9.2 Error Mapping Model; 9.2.1 Fully Constrained Localization; 9.2.2 Over Constrained Localization; 9.2.3 Under Constrained Localization; 9.3 Locator and Clamp Configuration Characteristics; 9.3.1 Locator Configuration Characteristics; 9.3.2 Clamp Configuration Characteristics; 9.4 Evaluation Indexes of Fixturing; 9.4.1 Evaluation Index of Locator Configurations; 9.4.2 Stability Index of Fixturing; 9.4.3 Fixturing Resultant Index; 9.5 Configuration Planning of Fixturing; 9.5.1 Constraints. This book provides a fundamental knowledge of robotic grasping and fixturing (RGF) manipulation. For RGF manipulation to become a science rather than an art, the content of the book is uniquely designed for a thorough understanding of the RGF from the multifingered robot hand grasp, basic fixture design principle, and evaluating and planning of robotic grasping/fixturing, and focuses on the modeling and applications of the RGF. Compared with existing publications, this volume concentrates more on abstract formulation, i.e. mathematical modeling of robotic grasping and fixturing. Thus, it will. Robots Motion Mathematical models. Robot hands Design and construction. Robots Mouvements Modèles mathématiques. TECHNOLOGY & ENGINEERING Automation. bisacsh Robot hands Design and construction fast Robots Motion Mathematical models fast Electronic books. Ding, Han, 1963- https://id.oclc.org/worldcat/entity/E39PBJbGXrDVJfqqtYfjjvB773 http://id.loc.gov/authorities/names/no2008054401 Xiong, You-Lun. https://id.oclc.org/worldcat/entity/E39PCjJTDBT8kcc6QM43JdbJ9P http://id.loc.gov/authorities/names/nr93049749 has work: Fundamentals of robotic grasping and fixturing (Text) https://id.oclc.org/worldcat/entity/E39PCFXjYtG4d8XXGrXF8Kr3Xq https://id.oclc.org/worldcat/ontology/hasWork Print version: Xiong, Caihua. Fundamentals of robotic grasping and fixturing. Singapore ; Hackensack, NJ : World Scientific, ©2007 (DLC) 2008295799 Series on manufacturing systems and technology ; v. 3. http://id.loc.gov/authorities/names/no2005040636 |
| spellingShingle | Xiong, Caihua Fundamentals of robotic grasping and fixturing / Series on manufacturing systems and technology ; Preface; Contents; Chapter 1 Robotic Grasp and Workpiece-Fixture Systems; 1.1 Introduction; 1.2 Robotic Manipulation and Multifingered Robotic Hands; 1.3 AMT and Fixtures; 1.4 Comparison between Grasping and Fixturing; 1.5 Bibliography; Chapter 2 Qualitative Analysis and Quantitative Evaluation of Form-Closure Grasping/Fixturing; 2.1 Introduction; 2.2 Qualitative Analysis; 2.2.1 Kinematic Characteristics of Grasping/Fixturing; 2.2.2 Discriminances of Form-Closure Grasping/Fixturing; 2.2.3 Minimum Number of Contacts with Frictionless; 2.3 Quantitative Evaluation; 2.3.1 Evaluation Criteria. 2.3.2 Numerical Example2.4 Summary; 2.5 Bibliography; Chapter 3 Stability Index and Contact Configuration Planning of Force-Closure Grasping/Fixturing; 3.1 Introduction; 3.2 Description of Contacts with Friction; 3.3 Conditions of Force Closure Grasp; 3.4 Grasp Stability Index; 3.4.1 Definition of the Grasp Stability Index; 3.4.2 Some Properties of the Index; 3.4.3 Contact Configuration Planning; 3.5 Examples; 3.6 Summary; 3.7 Bibliography; Chapter 4 Active Grasp Force Planning; 4.1 Introduction; 4.2 Nonlinear Programming in Grasp; 4.3 Force Planning Using Neural Networks; 4.4 Simulation. 4.5 Summary4.6 Bibliography; Chapter 5 Grasp Capability Analysis; 5.1 Introduction; 5.2 Evaluation of Multifingered Grasp Capability; 5.3 Numerical Example; 5.4 Summary; 5.5 Bibliography; Chapter 6 Compliant Grasping with Passive Forces; 6.1 Introduction; 6.2 The Model of Compliant Grasping/Fixturing; 6.3 Local Elastic Contact Model; 6.4 Deformation Compatible Constraints for All Contacts; 6.5 Stability of Grasping/Fixturing Systems; 6.6 Passive Force Closure Prediction; 6.7 Numerical Example; 6.8 Summary; 6.9 Bibliography; Chapter 7 Kinematics of Contacts and Rolling Manipulation. 7.1 Introduction7.2 Kinematics of Pure Rolling Contact; 7.3 Kinematics of Manipulation with Rolling Contact; 7.4 Coordinating Manipulation of Multifingered Robotic Hands; 7.4.1 Classification of Grasp Phases; 7.4.2 Coordinating Manipulation Strategy; 7.5 Adjustment of Fingertip Contact Forces; 7.6 Experimental Results; 7.7 Summary; 7.8 Bibliography; Chapter 8 Dynamic Stability of Grasping/Fixturing; 8.1 Introduction; 8.2 Dynamic Equations of Motion for a Grasped/Fixtured Object; 8.3 Dynamic Stability Conditions and Quality Measure; 8.4 Summary; 8.5 Bibliography. Chapter 9 Locating Error Analysis and Configuration Planning of Fixtures9.1 Introduction; 9.2 Error Mapping Model; 9.2.1 Fully Constrained Localization; 9.2.2 Over Constrained Localization; 9.2.3 Under Constrained Localization; 9.3 Locator and Clamp Configuration Characteristics; 9.3.1 Locator Configuration Characteristics; 9.3.2 Clamp Configuration Characteristics; 9.4 Evaluation Indexes of Fixturing; 9.4.1 Evaluation Index of Locator Configurations; 9.4.2 Stability Index of Fixturing; 9.4.3 Fixturing Resultant Index; 9.5 Configuration Planning of Fixturing; 9.5.1 Constraints. Robots Motion Mathematical models. Robot hands Design and construction. Robots Mouvements Modèles mathématiques. TECHNOLOGY & ENGINEERING Automation. bisacsh Robot hands Design and construction fast Robots Motion Mathematical models fast |
| title | Fundamentals of robotic grasping and fixturing / |
| title_auth | Fundamentals of robotic grasping and fixturing / |
| title_exact_search | Fundamentals of robotic grasping and fixturing / |
| title_full | Fundamentals of robotic grasping and fixturing / Caihua Xiong, Han Ding, Youlun Xiong. |
| title_fullStr | Fundamentals of robotic grasping and fixturing / Caihua Xiong, Han Ding, Youlun Xiong. |
| title_full_unstemmed | Fundamentals of robotic grasping and fixturing / Caihua Xiong, Han Ding, Youlun Xiong. |
| title_short | Fundamentals of robotic grasping and fixturing / |
| title_sort | fundamentals of robotic grasping and fixturing |
| topic | Robots Motion Mathematical models. Robot hands Design and construction. Robots Mouvements Modèles mathématiques. TECHNOLOGY & ENGINEERING Automation. bisacsh Robot hands Design and construction fast Robots Motion Mathematical models fast |
| topic_facet | Robots Motion Mathematical models. Robot hands Design and construction. Robots Mouvements Modèles mathématiques. TECHNOLOGY & ENGINEERING Automation. Robot hands Design and construction Robots Motion Mathematical models Electronic books. |
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