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

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Book 1985he 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.

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Book 1985rs. 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 disadvanta

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A Wrist for Fine-Motion Tasks,rs. Instead, people grasp the parts with a passive grip in which the fingers conform to the tool or object, and they make motions with the wrist and arm. Likewise, an active wrist may be combined with a conventional, passive gripper in many manufacturing tasks.

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Introduction,s and tentacles, all designed for a set of grasping and manipulation tasks. Many animals use their grippers not only as organs of action, but also as exploratory organs, relaying information about the outside world. The gripper becomes a bridge between the animal and the world around it. In manufact

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