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Robotic Grasping And Fine Manipulation
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Book Synopsis Robotic Grasping and Fine Manipulation by : M. R. Cutkosky
Download or read book Robotic Grasping and Fine Manipulation written by M. R. Cutkosky and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 190 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Book Synopsis Advances in Mechatronics by : Horacio Martinez-Alfaro
Download or read book Advances in Mechatronics written by Horacio Martinez-Alfaro and published by IntechOpen. This book was released on 2011-08-29 with total page 314 pages. Available in PDF, EPUB and Kindle. Book excerpt: Numerous books have already been published specializing in one of the well known areas that comprise Mechatronics: mechanical engineering, electronic control and systems. The goal of this book is to collect state-of-the-art contributions that discuss recent developments which show a more coherent synergistic integration between the mentioned areas. The book is divided in three sections. The first section, divided into five chapters, deals with Automatic Control and Artificial Intelligence. The second section discusses Robotics and Vision with six chapters, and the third section considers Other Applications and Theory with two chapters.
Book Synopsis Robotic Grasping and Manipulation by : Yu Sun
Download or read book Robotic Grasping and Manipulation written by Yu Sun and published by Springer. This book was released on 2018-07-14 with total page 210 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the First Robotic Grasping and Manipulation Challenge, RGMC 2016, held at IROS 2016, Daejeon, South Korea, in October 2016.The 13 revised full papers presented were carefully reviewed and are describing the rules, results, competitor systems and future directions of the inaugural competition. The competition was designed to allow researchers focused on the application of robot systems to compare the performance of hand designs as well as autonomous grasping and manipulation solutions across a common set of tasks. The competition was comprised of three tracks that included hand-in-hand grasping, fully autonomous grasping, and simulation.
Book Synopsis Fundamentals of Robotic Grasping and Fixturing by : Caihua Xiong
Download or read book Fundamentals of Robotic Grasping and Fixturing written by Caihua Xiong and published by World Scientific. This book was released on 2007 with total page 229 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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 be a good reference text for academic researchers, manufacturing and industrial engineers and a textbook for engineering graduate students.The book provides readers an overall picture and scientific basis of RGF, the comprehensive information and mathematic models of developing and applying RGF in industry, and presents long term valuable information which is essential and can be used by technical professions as a good reference.
Book Synopsis Mechanical Properties for the Grasp of a Robotic Hand by : Mark R. Cutkosky
Download or read book Mechanical Properties for the Grasp of a Robotic Hand written by Mark R. Cutkosky and published by . This book was released on 1984 with total page 78 pages. Available in PDF, EPUB and Kindle. Book excerpt: The subject of this paper forms part of a broader effort to model the mechanics of grasping and fine-manipulation for robots. Grasping is the act of acquiring and holding (gripping) an object. Fine-manipulation is an extension of grasping to include control of the object using an end-effector such as a gripper or a hand. A mechanical model of grasping and manipulation forms the basis for controlling grippers and paves the way for robots that can make independent judgments about how to pick up and handle the objects they encounter. In this paper a procedure is developed for computing physical properties with which a grasp may be described. Among these properties are grip strength, stability, compliance and mobility. The results depend strongly on the interaction between the gripping surfaces and the object. For example, a grasp may be unstable when the fingertips are pointed, but stable for rounded fingertips. The analysis suggests that particular kinds of sensory information are especially useful in controlling a grasp and supports the notion that general grasping rules of thumb can be identified for use by robots. Originator- supplied key words include: Mechanical properties, Three dimensional, Fingers, Kinematics.
Download or read book Modern Robotics written by Kevin M. Lynch and published by Cambridge University Press. This book was released on 2017-05-25 with total page 545 pages. Available in PDF, EPUB and Kindle. Book excerpt: A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Book Synopsis Underactuated Robotic Hands by : Lionel Birglen
Download or read book Underactuated Robotic Hands written by Lionel Birglen and published by Springer Science & Business Media. This book was released on 2008-02-11 with total page 248 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is a cornerstone publication in robotic grasping. The authors have developed an internationally recognized expertise in this area. Additionally, they designed and built several prototypes which attracted the attention of the scientific community. The purpose of this book is to summarize years of research and to present, in an attractive format, the expertise developed by the authors on a new technology for grasping which has achieved great success both in theory and in practice.
Book Synopsis Robot In-hand Manipulation Using Roller Graspers by : Shenli Yuan
Download or read book Robot In-hand Manipulation Using Roller Graspers written by Shenli Yuan and published by . This book was released on 2022 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This work describes the development of a class of dexterous robot hands that use steerable, continuously rotating fingertips to perform complex in-hand manipulation of grasped objects, a task that has alluded many widely used robot graspers. While a typical laboratory robot with a parallel-jaw gripper can perform basic pick-and-place tasks, they lack the fine manipulation proficiency needed for more demanding, precise and varied tasks. Inspired by the human hand, many research efforts are focused on creating and controlling human-like (anthropomorphic) hands in the hopes of duplicating human dexterity. One goal of these designs has been to enable robotic in-hand manipulation. Except for small motions, in-hand manipulation with these hands requires grasp-gaiting, a complex process where the fingers "walk" across the object, making and breaking contacts in order to propel the object to a desired pose, which can be an inefficient and difficult approach for a variety of tasks. So far, the fragility, cost, and complexity of these devices have precluded use outside of a laboratory setting. While we share with other researchers the goal of enabling in-hand manipulation, we achieve it by completely different means. We have developed a series of highly non-anthropomorphic grasping devices - the Roller Graspers - that use rotating fingertips to perform full six-degrees-of-freedom (DoF) in-hand manipulation on grasped objects. We do this by intelligently driving the fingertips across the object. The first Roller Grasper used steerable cylindrical fingertip rollers mounted on a pivoting linkage, for a total of three DoF for each of its three fingers. Using scripted motion control, it demonstrated the feasibility of our in-hand manipulation concept. The second and third versions used spherical fingertips which afforded better grasp stability and range of motion. These designs also supported our development of a hierarchical manipulation architecture that allowed the roller graspers to achieve autonomous in-hand manipulation. The manipulation architecture consisted of a sample-based high-level planner and a heuristic low-level policy that allowed the grasper to perform full 6-DoF manipulation of objects with a variety of shapes and sizes. The final version of our hand, called Tactile-Enabled Roller Grasper (TERG), incorporated a novel tactile sensing system that could extract the surface contour of a grasped object as well as the shear force applied at the contact location, even while the fingertips were rotating. This enabled more diverse and robust in-hand manipulation that was not possible in the previous generations.
Book Synopsis Grasping in Robotics by : Giuseppe Carbone
Download or read book Grasping in Robotics written by Giuseppe Carbone and published by Springer Science & Business Media. This book was released on 2012-11-15 with total page 464 pages. Available in PDF, EPUB and Kindle. Book excerpt: Grasping in Robotics contains original contributions in the field of grasping in robotics with a broad multidisciplinary approach. This gives the possibility of addressing all the major issues related to robotized grasping, including milestones in grasping through the centuries, mechanical design issues, control issues, modelling achievements and issues, formulations and software for simulation purposes, sensors and vision integration, applications in industrial field and non-conventional applications (including service robotics and agriculture). The contributors to this book are experts in their own diverse and wide ranging fields. This multidisciplinary approach can help make Grasping in Robotics of interest to a very wide audience. In particular, it can be a useful reference book for researchers, students and users in the wide field of grasping in robotics from many different disciplines including mechanical design, hardware design, control design, user interfaces, modelling, simulation, sensors and humanoid robotics. It could even be adopted as a reference textbook in specific PhD courses.
Book Synopsis Proceedings Of 17th All India Manufacturing Technology by :
Download or read book Proceedings Of 17th All India Manufacturing Technology written by and published by Allied Publishers. This book was released on with total page 746 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Fundamentals of Robotic Grasping and Fixturing by : Caihua Xiong
Download or read book Fundamentals of Robotic Grasping and Fixturing written by Caihua Xiong and published by World Scientific. This book was released on 2007 with total page 229 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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 be a good reference text for academic researchers, manufacturing and industrial engineers and a textbook for engineering graduate students. The book provides readers an overall picture and scientific basis of RGF, the comprehensive information and mathematic models of developing and applying RGF in industry, and presents long term valuable information which is essential and can be used by technical professions as a good reference. Sample Chapter(s). Chapter 1: Robotic Grasp and Workpiece-Fixture Systems (225 KB). Contents: Robotic Grasp and Workpiece-Fixture Systems; Qualitative Analysis and Quantitative Evaluation of Form-Closure Grasping/Fixturing; Stability Index and Contact Configuration Planning of Force-Closure Grasping/Fixturing; Active Grasp Force Planning; Grasp Capability Analysis; Compliant Grasping with Passive Forces; Kinematics of Contacts and Rolling Manipulation; Dynamic Stability of Grasping/Fixturing; Locating Error Analysis and Configuration Planning of Fixtures; Clamping Planning in Workpiece-Fixture Systems. Readership: Academic researchers, manufacturing and industrial engineers and engineering graduate students.
Book Synopsis From Robot to Human Grasping Simulation by : Beatriz León
Download or read book From Robot to Human Grasping Simulation written by Beatriz León and published by Springer Science & Business Media. This book was released on 2013-09-29 with total page 263 pages. Available in PDF, EPUB and Kindle. Book excerpt: The human hand and its dexterity in grasping and manipulating objects are some of the hallmarks of the human species. For years, anatomic and biomechanical studies have deepened the understanding of the human hand’s functioning and, in parallel, the robotics community has been working on the design of robotic hands capable of manipulating objects with a performance similar to that of the human hand. However, although many researchers have partially studied various aspects, to date there has been no comprehensive characterization of the human hand’s function for grasping and manipulation of everyday life objects. This monograph explores the hypothesis that the confluence of both scientific fields, the biomechanical study of the human hand and the analysis of robotic manipulation of objects, would greatly benefit and advance both disciplines through simulation. Therefore, in this book, the current knowledge of robotics and biomechanics guides the design and implementation of a simulation framework focused on manipulation interactions that allows the study of the grasp through simulation. As a result, a valuable framework for the study of the grasp, with relevant applications in several fields such as robotics, biomechanics, ergonomics, rehabilitation and medicine, has been made available to these communities.
Download or read book RAMSETE written by Salvatore Nicosia and published by Springer. This book was released on 2003-07-01 with total page 292 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotics applications, initially developed for industrial and manufacturing contexts, are now strongly present in several elds. Besides well-known space and high-technology applications, robotics for every day life and medical s- vices is becoming more and more popular. As an example, robotic manipu- tors are particularly useful in surgery and radiation treatments, they could be employed for civil demining, for helping disabled people, and ultimately for domestic tasks, entertainment and education. Such a kind of robotic app- cations require the integration of many di erent skills. Autonomous vehicles and mobile robots in general must be integrated with articulated manipu- tors. Many robotic technologies (sensors, actuators and computing systems) must be properly used with speci c technologies (localisation, planning and control technologies). The task of designing robots for these applications is a hard challenge: a speci c competence in each area is demanded, in the e ort of a truly integrated multidisciplinary design.
Book Synopsis Multi-point Interaction with Real and Virtual Objects by : Federico Barbagli
Download or read book Multi-point Interaction with Real and Virtual Objects written by Federico Barbagli and published by Springer Science & Business Media. This book was released on 2005-07-07 with total page 304 pages. Available in PDF, EPUB and Kindle. Book excerpt: The problem of robotic and virtual interaction with physical objects has been the subject of research for many years in both the robotic manipulation and haptics communities. Both communities have focused much attention on human touch-based perception and manipulation, modelling contact between real or virtual hands and objects, or mechanism design. However, as a whole, these problems have not yet been addressed from a unified perspective. This edited book is the outcome of a well-attended workshop which brought together leading scholars from various branches of the robotics, virtual-reality, and human studies communities during the 2004 IEEE International Conference on Robotics and Automation. It covers some of the most challenging problems on the forefront of today’s research on physical interaction with real and virtual objects, with special emphasis on modelling contacts between objects, grasp planning algorithms, haptic perception, and advanced design of hands, devices and interfaces.
Book Synopsis The Human Hand as an Inspiration for Robot Hand Development by : Ravi Balasubramanian
Download or read book The Human Hand as an Inspiration for Robot Hand Development written by Ravi Balasubramanian and published by Springer. This book was released on 2014-01-03 with total page 573 pages. Available in PDF, EPUB and Kindle. Book excerpt: “The Human Hand as an Inspiration for Robot Hand Development” presents an edited collection of authoritative contributions in the area of robot hands. The results described in the volume are expected to lead to more robust, dependable, and inexpensive distributed systems such as those endowed with complex and advanced sensing, actuation, computation, and communication capabilities. The twenty-four chapters discuss the field of robotic grasping and manipulation viewed in light of the human hand’s capabilities and push the state-of-the-art in robot hand design and control. Topics discussed include human hand biomechanics, neural control, sensory feedback and perception, and robotic grasp and manipulation. This book will be useful for researchers from diverse areas such as robotics, biomechanics, neuroscience, and anthropologists.
Book Synopsis Emerging Trends in Mechatronics by : Aydin Azizi
Download or read book Emerging Trends in Mechatronics written by Aydin Azizi and published by BoD – Books on Demand. This book was released on 2020-01-15 with total page 230 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mechatronics is a multidisciplinary branch of engineering combining mechanical, electrical and electronics, control and automation, and computer engineering fields. The main research task of mechatronics is design, control, and optimization of advanced devices, products, and hybrid systems utilizing the concepts found in all these fields. The purpose of this special issue is to help better understand how mechatronics will impact on the practice and research of developing advanced techniques to model, control, and optimize complex systems. The special issue presents recent advances in mechatronics and related technologies. The selected topics give an overview of the state of the art and present new research results and prospects for the future development of the interdisciplinary field of mechatronic systems.
Book Synopsis On the Analysis of Robotic Grasping and Manipulation of Objects Using Solid Modeling by : Keith Robert Victor
Download or read book On the Analysis of Robotic Grasping and Manipulation of Objects Using Solid Modeling written by Keith Robert Victor and published by . This book was released on 1989 with total page 262 pages. Available in PDF, EPUB and Kindle. Book excerpt:
