Mechanics of Robot Grasping

1. Introduction and overview; Part I. Basic Geometry of the Grasping Process: 2. Rigid-body configuration space; 3. Configuration space tangent and cotangent vectors; 4. Rigid body equilibrium grasps; 5. A catalog of equilibrium grasps; Part II. Frictionless Rigid Body Grasps and Stances: 6. Introduction to secure grasps; 7. First-order immobilizing grasps; 8. Second-order immobilizing grasps; 9. Minimal immobilizing grasps; 10. Multi-finger caging grasps; 11. Frictionless hand supported stances under gravity; Part III. Frictional Rigid-Body Grasps, Fixtures, and Stances: 12. Wrench resistant grasps; 13. Grasp quality functions; 14. Hand supported stances under gravity - Part I; 15. Hand supported stances under gravity - Part II; Part IV. Grasping Mechanisms: 16. The kinematics and mechanics of grasping mechanisms; 17. Grasp manipulability; 18. Hand mechanism compliance; Appendices; Index.

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• Engenharia: geral
• Engenharia do controlo automático
• Robótica
• Inteligência artificial
• Interacção homem-computador