Robotic Grasping and Fine Manipulation

✍ Scribed by Mark R. Cutkosky (auth.)

• Publisher: Springer US
• Year: 1985
• Tongue: English
• Leaves: 189
• Series: The Kluwer International Series in Engineering and Computer Science 6
• Edition: 1
• Category: Library

✦ Synopsis

When a person picks up a metal part and clamps it in the chuck of a lathe, he begins with his arm, proceeds with his wrist and finishes with his fingers. The arm brings the part near the chuck. The wrist positions the part, giving it the proper orientation to slide in. After the part is inserted, the wrist and fingers make tiny corrections to ensure that it is correctly seated. Today's robot attempting the same operations is at a grave disadvantage if it has to make all motions with the arm. The following work investigates the use of robotic wrists and hands to help industrial robots perform the fine motions needed in a metal working cell. Chapters 1 and 2 are an introduction to the field and a review of previous investigations on related subjects. Little work has been done on grasping and fine manipulation with a robot hand or wrist, but the related subjects of robot arm dynamics and control have an extensive literature.

✦ Table of Contents

Front Matter....Pages i-xv
Introduction....Pages 1-4
Previous Investigations of Fine Manipulation and Grasping....Pages 5-16
Robot Tasks in a Metal-Working Cell....Pages 17-31
A Wrist for Fine-Motion Tasks....Pages 32-54
Analysis for an Active Robot Hand....Pages 55-122
Natural Examples of Grasping....Pages 123-139
Designing Hands and Wrists for Manufacturing....Pages 140-152
Summary and Conclusions....Pages 153-156
Back Matter....Pages 157-176

✦ Subjects

Control, Robotics, Mechatronics;Electrical Engineering