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Titlebook: Robotic Grasping and Fine Manipulation; Mark R. Cutkosky Book 1985 Kluwer Academic Publishers 1985 control.design.dynamics.industrial robo

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发表于 2025-3-21 18:05:51 | 显示全部楼层 |阅读模式
书目名称Robotic Grasping and Fine Manipulation
编辑Mark R. Cutkosky
视频videohttp://file.papertrans.cn/832/831115/831115.mp4
丛书名称The Springer International Series in Engineering and Computer Science
图书封面Titlebook: Robotic Grasping and Fine Manipulation;  Mark R. Cutkosky Book 1985 Kluwer Academic Publishers 1985 control.design.dynamics.industrial robo
描述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.
出版日期Book 1985
关键词control; design; dynamics; industrial robot; manipulation; manufacturing; metals; model; robot; stability
版次1
doihttps://doi.org/10.1007/978-1-4684-6891-5
isbn_softcover978-1-4684-6893-9
isbn_ebook978-1-4684-6891-5Series ISSN 0893-3405
issn_series 0893-3405
copyrightKluwer Academic Publishers 1985
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发表于 2025-3-21 22:09:18 | 显示全部楼层
Robotic Grasping and Fine Manipulation978-1-4684-6891-5Series ISSN 0893-3405
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Robot Tasks in a Metal-Working Cell,An automated metal working cell is the focus of the present study, and the examples chosen to illustrate basic gripping and manipulation concerns are drawn exclusively from the metal working environment. However, similar concerns appear in many other robot applications.
发表于 2025-3-22 11:43:18 | 显示全部楼层
Analysis for an Active Robot Hand,etal parts into fixtures, or use power tools such as grinders and air wrenches, they wrap their hands around the part or tool and make fine motions with their wrists. However, for more delicate manufacturing tasks a hand with actively controlled fingers may be needed.
发表于 2025-3-22 14:13:56 | 显示全部楼层
Summary and Conclusions,d in the literature for improving the accuracy of robots, but a better solution is to endow the robot with a wrist and active hand for fine work. The solution is effective because many manufacturing tasks can be broken into separate fine and gross motion subtasks.
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Designing Hands and Wrists for Manufacturing,ess” of the surface. Still, it is possible to use a separate arm, wrist and hand provided that they communicate with each other. If the tasks displayed a large amount of interdependence between fine and gross motions, it would become more convenient to treat the wrist and hand as the last few joints
发表于 2025-3-23 07:29:15 | 显示全部楼层
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