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Robotic Grasping and Fine Manipulation

  • Mark R. Cutkosky

Table of contents

  1. Front Matter
    Pages i-xv
  2. Mark R. Cutkosky
    Pages 1-4
  3. Mark R. Cutkosky
    Pages 17-31
  4. Mark R. Cutkosky
    Pages 32-54
  5. Mark R. Cutkosky
    Pages 55-122
  6. Mark R. Cutkosky
    Pages 123-139
  7. Mark R. Cutkosky
    Pages 140-152
  8. Mark R. Cutkosky
    Pages 153-156
  9. Back Matter
    Pages 157-176

About this book

Introduction

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.

Keywords

control design dynamics industrial robot manipulation manufacturing metals model robot stability

Authors and affiliations

  • Mark R. Cutkosky
    • 1
  1. 1.Stanford UniversityUSA

Bibliographic information

  • DOI https://doi.org/10.1007/978-1-4684-6891-5
  • Copyright Information Springer-Verlag US 1985
  • Publisher Name Springer, Boston, MA
  • eBook Packages Springer Book Archive
  • Print ISBN 978-1-4684-6893-9
  • Online ISBN 978-1-4684-6891-5
  • Series Print ISSN 0893-3405
  • Buy this book on publisher's site