demmel lafferriere (5 risultati)

Paperback. Condizione: New. Print on Demand. This book explores the problem of finding a stable distribution of forces among multiple fingers grasping an object, with a view to minimizing the grip's dependence on friction. It generalises and simplifies the results of earlier work by other researchers to encompass all geometric arrangements of point contacts and includes an analysis of the three-dimensional case, along with cases of varying coefficients of friction. The author proves that for all cases, with certain exceptions, the optimal equilibrium forces are those with the same absolute value of angle with respect to the corresponding inward pointing normal. The author also provides a procedure for computing these equilibrium forces, which reduces the non-linear optimisation problem to a generalised eigenvalue problem. This approach is shown to have applications to the analysis of grasping manipulators regardless of the kinematic configuration of the fingers, and has been verified experimentally using a four finger manipulator. This book is a reproduction of an important historical work, digitally reconstructed using state-of-the-art technology to preserve the original format. In rare cases, an imperfection in the original, such as a blemish or missing page, may be replicated in the book. print-on-demand item.

Paperback. Condizione: New. Print on Demand. This book presents an in-depth analysis of multifingered manipulation and control, focusing on the coordination of finger motions in complex grasping tasks. The author, a leading expert in robotics, examines the problem of distributing forces within a robotic hand to achieve effective object manipulation. Drawing on insights from mechanics, control theory, and optimization, the book provides a comprehensive theoretical framework for understanding and designing multifingered robotic systems. The author explores various approaches to multifingered manipulation, including hybrid force/position control and the concept of virtual fingers. Through detailed mathematical derivations and experimental results, the book offers valuable insights into the challenges and opportunities of multifingered robotics, demonstrating its potential for advancing the field of dexterous manipulation. This book is a reproduction of an important historical work, digitally reconstructed using state-of-the-art technology to preserve the original format. In rare cases, an imperfection in the original, such as a blemish or missing page, may be replicated in the book. print-on-demand item.

Gebunden. Condizione: New.

Condizione: New. Print on Demand pp. 28.

Condizione: New. Print on Demand pp. 40.