| Description |
1 online resource : illustrations (black and white) |
| Contents |
Introduction and overview page -- Rigid-body configuration space -- Configuration space tangent and cotangent vectors -- Rigid body equilibrium grasps -- A catalog of equilibrium grasps -- Introduction to secure grasps -- First-order immobilizing grasps -- Second-order immobilizing grasps -- Minimal immobilizing grasps -- Multi-finger caging grasps -- Frictionless H and supported stances under gravity -- Wrench resistant grasps -- Grasp quality functions -- Hand supported stances under gravity, part I -- Hand supported stances under gravity, part II -- The kinematics and mechanics of grasping mechanisms -- Grasp manipulability -- Hand mechanism compliance |
| Summary |
"In this comprehensive textbook about robot grasping, you will find an integrated look at the major concepts and technical results in robot grasp mechanics. A large body of prior research, including key theories, graphical techniques, and insights on robot hand designs, is organized into a systematic review, using common notation and a common analytical framework. With introductory and advanced chapters that support senior undergraduate and graduate level robotics courses, this book provides a full introduction to robot grasping principles that are needed to model and analyze multi-finger robot grasps, and serves as a valuable reference for robotics students, researchers, and practicing robot engineers. Each chapter contains many worked-out examples, exercises with full solutions, and figures that highlight new concepts and help the reader master the use of the theories and equations presented"-- Provided by publisher |
| Bibliography |
Includes bibliographical references and index |
| Notes |
Print version record |
| Subject |
Robot hands -- Textbooks
|
|
Mechanical movements -- Textbooks
|
|
Robotics -- Textbooks
|
|
Mechanical movements
|
|
Robot hands
|
|
Robotics
|
| Genre/Form |
Textbooks
|
| Form |
Electronic book
|
| Author |
Burdick, Joel Wakeman, author
|
| ISBN |
9781108552011 |
|
1108552013 |
|
