Robot Hands and the Mechanics of Manipulation - Couverture rigide

Mason, Matthew T.; Salisbury, J. Kenneth

Couverture rigide

ISBN 10 : 0262132052 ISBN 13 : 9780262132053

Editeur : The MIT Press, 1985

Synopsis

Robot Hands and the Mechanics of Manipulation explores several aspects of the basic mechanics of grasping, pushing, and in general, manipulating objects. It makes a significant contribution to the understanding of the motion of objects in the presence of friction, and to the development of fine position and force controlled articulated hands capable of doing useful work.In the book's first section, kinematic and force analysis is applied to the problem of designing and controlling articulated hands for manipulation. The analysis of the interface between fingertip and grasped object then becomes the basis for the specification of acceptable hand kinematics. A practical result of this work has been the development of the Stanford/JPL robot hand - a tendon-actuated, 9 degree-of-freedom hand which is being used at various laboratories around the country to study the associated control and programming problems aimed at improving robot dexterity. Chapters in the second section study the characteristics of object motion in the presence of friction. Systematic exploration of the mechanics of pushing leads to a model of how an object moves under the combined influence of the manipulator and the forces of sliding friction. The results of these analyses are then used to demonstrate verification and automatic planning of some simple manipulator operations.

Robot Hands and the Mechanics of Manipulation is 14th in the Artificial Intelligence Series, edited by Patrick Henry Winston and Michael Brady.

A propos du livre

À propos de l?auteur

Matthew T. Mason is Professor of Computer Science and Robotics at Carnegie Mellon University.

J. Kenneth Salisbury, Jr. is a Research Scientist at MIT's Artificial Intelligence Laboratory, and president of Salisbury Robotics, Inc.

Détails de l'édition

• Éditeur: The MIT Press
• Date d'édition: 1985
• Langue: anglais
• ISBN 10: 0262132052
• ISBN 13: 9780262132053
• Reliure: Relié
• Nombre de pages: 275
• Coordonnées du fabricant: non disponible
• Personne responsable: non disponible