By Marco Ceccarelli (auth.), Giuseppe Carbone (eds.)
Grasping in Robotics includes unique contributions within the box of greedy in robotics with a extensive multidisciplinary technique. this provides the potential for addressing the entire significant matters relating to robotized greedy, together with milestones in greedy in the course of the centuries, mechanical layout matters, keep an eye on concerns, modelling achievements and matters, formulations and software program for simulation reasons, sensors and imaginative and prescient integration, purposes in commercial box and non-conventional functions (including provider robotics and agriculture).
The members to this e-book are specialists of their personal varied and broad ranging fields. This multidisciplinary process might help make greedy in Robotics of curiosity to a really extensive viewers. specifically, it may be an invaluable reference e-book for researchers, scholars and clients within the broad box of greedy in robotics from many various disciplines together with mechanical layout, layout, keep an eye on layout, person interfaces, modelling, simulation, sensors and humanoid robotics. it may also be followed as a reference textbook in particular PhD courses.
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Additional resources for Grasping in Robotics
Chakarov D (1998) Optimization synthesis of parallel manipulators with desired stiffness. J Theor Appl Mech 28(4). Avaliable. pdf 23. Liu X-J, Jin Z-L, Gao F (2000) Optimum design of 3-dof spherical parallel manipulators with respect to the conditioning and stiffness indices. Mech Mach Theory 35(9):1257–12672000 24. Carbone G, Ottaviano E, Ceccarelli M (2007) An optimum design procedure for both serial and parallel manipulators. IMechE Part C J Mech Eng Sci 221(7):829–843 25. Huang S, Schimmels JM (2000) The bounds and realization of spatial compliances achieved with simple springs connected in parallel.
A global index of stiffness performance for a robotic system can be defined with graphical methods that are based on plotting curves connecting postures having the same value of the local stiffness index (iso-stiffness curves or surfaces), as proposed for example in . Nevertheless, the number of iso-stiffness curves or surfaces that one can plot is graphically limited. Moreover, few curves or surfaces usually do not provide sufficient insight of the overall stiffness behavior of a robotic system.
Mech Mach Theory 33(4):389–408 28. Chen S-F, Kao I (2000) Geometrical method for modeling of asymmetric 6 9 6 cartesian stiffness matrix. In: Proceedings of the IEEE/RSJ international conference on intelligent robots and systems IROS2000, Takamatsu, pp 1217–1222 29. Pham DT, Heginbotham WB (1986) Robot grippers. IFS Publications Ltd, Bedford 30. Rosheim ME (1996) Robot surrogate: work in progress. In: International conference on robotics and automation, Minnesota, pp 399–403 31. Cutkosky MR (1989) On grasp choice, grasp model, and the design of hands for manufacturing tasks.