Optimal Three Finger Grasps

Demmel, James W; Lafferriere, G

ISBN 10: 1342048350 ISBN 13: 9781342048356

Edit� par Palala Press, 2015

Neuf(s) Couverture rigide

Vendeur California Books, Miami, FL, Etats-Unis �valuation du vendeur 5 sur 5 �toiles

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D�tails bibliographiques

Titre : Optimal Three Finger Grasps
�diteur : Palala Press
Date d'�dition : 2015
Reliure : Couverture rigide
Etat : New

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Optimal Three Finger Grasps (Classic Reprint)

Jim Demmel, Gerardo Lafferriere

Edit� par Forgotten Books, 2018

ISBN 10 : 1333506872 ISBN 13 : 9781333506872

Neuf Paperback

impression � la demande

Vendeur : Forgotten Books, London, Royaume-Uni

�valuation du vendeur 5 sur 5 �toiles

Paperback. Etat : New. Print on Demand. This book explores the problem of finding a stable distribution of forces among multiple fingers grasping an object, with a view to minimizing the grip's dependence on friction. It generalises and simplifies the results of earlier work by other researchers to encompass all geometric arrangements of point contacts and includes an analysis of the three-dimensional case, along with cases of varying coefficients of friction. The author proves that for all cases, with certain exceptions, the optimal equilibrium forces are those with the same absolute value of angle with respect to the corresponding inward pointing normal. The author also provides a procedure for computing these equilibrium forces, which reduces the non-linear optimisation problem to a generalised eigenvalue problem. This approach is shown to have applications to the analysis of grasping manipulators regardless of the kinematic configuration of the fingers, and has been verified experimentally using a four finger manipulator. This book is a reproduction of an important historical work, digitally reconstructed using state-of-the-art technology to preserve the original format. In rare cases, an imperfection in the original, such as a blemish or missing page, may be replicated in the book. print-on-demand item. N� de r�f. du vendeur 9781333506872_0

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