Simulation software for robotics
Focuses on robotic hands and the control of robot arms and flexible fixturing. This multiauthored work provides a detailed overview of many aspects including: a variety of novel simulation methods used to graphically portray the grasps and tasks the now famous robotic hand from MIT carries out in practice, a new computer-assisted approach to the planning of form closure grasps and gripper design, manipulator dynamics modelling, computer-aided control system design, the application of 'dynamic linearization' to a kinematically redundant planar manipulator, use of dynamic equations and control algorithms for a parallel link manipulator, automation and flexibility in fixturing processes through design of modular and adaptable fixtures which can be robot operated. The final paper describes a flexible robotic system for sheet metal drilling and evaluation of the performance of that system through analysis and experimentation.
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H Asada and M Kitagawa 293 Kinematic analysis and planning for form closure grasps
S CETINKUNT and W J BOOK 301 Symbolic modeling and dynamic simulation of robotic
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achieve actuator adaptable fixtures applied approach Asada assembly AutoLISP automated planning automatic base plate candidate clamping configuration conformable surface constraint point control algorithms coordinate frame dataglove degrees of freedom developed dynamically linearized end effector end point feasible fingertip locations fixture elements fixture layout fixture setup fixturing force fixturing module flexible fixturing form closure grasp grip hole homogeneous manipulations IEEE implementation industrial robot inertia matrix inverse dynamic inverse kinematics joint kinematically redundant kinetic energy layout requirements locking manufacturing mechanical mode shapes modular and adaptable modular fixturing system modules Nitinol nonlinear object operations optimization orientation parallel link manipulator payload performance pins planar manipulator plane preloaded problem programming reconfiguration rigid robot manipulator robotic hands Robotics and Automation rotation sensor SFPACK shape memory alloy sheet metal shown in Fig simulation specific support points task taxonomy tion torque trajectory upper plate Utah/MIT hand vector workpart workpiece workpiece surface Youcef-Toumi