Grasping in Robotics

Editors:

ISBN: 978-1-4471-4663-6 (Print) 978-1-4471-4664-3 (Online)

Table of contents (17 chapters)

  1. Front Matter

    Pages i-viii

  2. Background

    1. Front Matter

      Pages 1-1

    2. No Access

      Book Chapter

      Pages 3-16

      Notes for a History of Grasping Devices

    3. No Access

      Book Chapter

      Pages 17-55

      Stiffness Analysis for Grasping Tasks

    4. No Access

      Book Chapter

      Pages 57-76

      Multibody Dynamics Formulation

    5. No Access

      Book Chapter

      Pages 77-104

      Sensors and Methods for the Evaluation of Grasping

  3. Mechanism Design

    1. Front Matter

      Pages 105-105

    2. No Access

      Book Chapter

      Pages 107-131

      Industrial Grippers: State-of-the-Art and Main Design Characteristics

    3. No Access

      Book Chapter

      Pages 133-158

      Robotic Hands and Underactuated Finger Mechanisms

    4. No Access

      Book Chapter

      Pages 159-188

      Finger Orientation for Robotic Hands

    5. No Access

      Book Chapter

      Pages 189-219

      Parallel Wrists for Enhancing Grasping Performance

  4. Control and Motion Planning

    1. Front Matter

      Pages 221-221

    2. No Access

      Book Chapter

      Pages 223-246

      A Survey on Different Control Techniques for Grasping

    3. No Access

      Book Chapter

      Pages 247-268

      Hardware Control System of Robotic Hands

    4. No Access

      Book Chapter

      Pages 269-304

      Visual Servo Control of Robot Grasping

    5. No Access

      Book Chapter

      Pages 305-328

      Path Planning for Grasping Tasks

    6. No Access

      Book Chapter

      Pages 329-359

      Grasp and Motion Planning for Humanoid Robots

  5. Applications

    1. Front Matter

      Pages 361-361

    2. No Access

      Book Chapter

      Pages 363-384

      Hardware for Industrial Gripping at SCHUNK GmbH & Co. KG

    3. No Access

      Book Chapter

      Pages 385-409

      Grasping in Agriculture: State-of-the-Art and Main Characteristics

    4. No Access

      Book Chapter

      Pages 411-431

      Microgrippers and their Influence on High Precision Assembly Processes

    5. No Access

      Book Chapter

      Pages 433-464

      A New Way of Grasping: PARAGRIP—The Fusion of Gripper and Robot

  6. Back Matter

    Pages 465-467