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Previous Investigations of Fine Manipulation and Grasping
Robot Tasks in a MetalWorking Cell
A Wrist for FineMotion Tasks
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analysis assembly tasks axis becomes bending center of compliance coefficient of friction constraints contact area contact point contact with friction contour coordinate system curvature curved fingertip cylinder deformation degrees of freedom determine direction displacement vector displacements distributed control system elastic elements equations errors example Figure finger joints finger stiffnesses flexible forces and torques geometry grasping force grinder grinding grip stiffness gripper gripping force gross motions hole human hand industrial robots jacobian Kalman filter kinematic kinematic chains lm,n loads manufacturing tasks mechanical metal working cell misalignment muscles object surface palmar grasp point contact position and orientation predictor radius of curvature rectangle reflexes resistance to slipping respect restoring forces result robot arm servo shear strength shear stress small motions soft finger soft fingertips spheres stability stiffness matrix task controller tool tracking trajectory translations and rotations transmitted vector velocity workpiece wrist controller