Elon Rimon

Mechanics of Robot Grasping (eBook, ePUB)

• Format: ePub

Produktbeschreibung

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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Produktdetails

• Verlag: Cambridge University Press
• Erscheinungstermin: 24. Oktober 2019
• Englisch
• ISBN-13: 9781108639491
• Artikelnr.: 62737238

Autorenporträt

Elon Rimon is an Associate Professor in the Department of Mechanical Engineering at the Technion - Israel Institute of Technology, Haifa. He has also been a Visiting Associate Faculty member at the California Institute of Technology. Professor Rimon was a finalist for the best paper award at the IEEE International Conference on Robotics and Automation in 1994 and 1996, for the Workshop on Algorithmic Foundations of Robotics in 2014 and 2016, and awarded best paper presentation at the Robotics Science and Systems Conference in 2013.

Inhaltsangabe

1. Introduction and overview
Part I. Basic Geometry of the Grasping Process: 2. Rigid-body configuration space
3. Configuration space tangent and cotangent vectors
4. Rigid body equilibrium grasps
5. A catalog of equilibrium grasps
Part II. Frictionless Rigid Body Grasps and Stances: 6. Introduction to secure grasps
7. First-order immobilizing grasps
8. Second-order immobilizing grasps
9. Minimal immobilizing grasps
10. Multi-finger caging grasps
11. Frictionless hand supported stances under gravity
Part III. Frictional Rigid-Body Grasps, Fixtures, and Stances: 12. Wrench resistant grasps
13. Grasp quality functions
14. Hand supported stances under gravity - Part I
15. Hand supported stances under gravity - Part II
Part IV. Grasping Mechanisms: 16. The kinematics and mechanics of grasping mechanisms
17. Grasp manipulability
18. Hand mechanism compliance
Appendices
Index.