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E-raamat: Mechanics of Robot Grasping

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(Technion - Israel Institute of Technology, Haifa), (California Institute of Technology)
  • Formaat: PDF+DRM
  • Ilmumisaeg: 24-Oct-2019
  • Kirjastus: Cambridge University Press
  • Keel: eng
  • ISBN-13: 9781108650816
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Mechanics of Robot GraspingSuurem pilt
  • Formaat: PDF+DRM
  • Ilmumisaeg: 24-Oct-2019
  • Kirjastus: Cambridge University Press
  • Keel: eng
  • ISBN-13: 9781108650816
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With introductory and advanced chapters that support senior undergraduate and graduate level robotics courses, this book provides a comprehensive review of robot grasping principles and insights on robot hand designs, and serves as a valuable reference for robotics researchers and practicing robot engineers.

In this comprehensive textbook about robot grasping, readers will discover 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.

Arvustused

'The Mechanics of Robot Grasping, by two of the world's leading experts, fills an important gap in the literature by providing the first comprehensive survey of the mathematical tools needed to model the physics of grasping. The book uses configuration space to consistently characterize equilibrium, immobilizing, and caging grasps, and clearly conveys important points such as the distinction between first-order and second-order form closure. The book also contains new material on the effects of gravity, compliance, and hand mechanism design. Grasping remains a Grand Challenge for robots and this book provides the solid foundation for progress for students and researchers in the years ahead.' Ken Goldberg, University of California, Berkeley 'This is a book on robotic hand grasping from new view points. Different from other books on grasping, this book concretely explains the equilibrium grasp, the immobilizing grasp and the caging grasp. In addition, I have never seen a book discussing the equilibrium stance of legged robots in relation to the equilibrium grasp. Classical topics on grasping mechanics are also covered in this book.' Kensuke Harada, Osaka University, Japan

Muu info

This comprehensive look at the major concepts in robot grasp mechanics serves as a valuable reference for all robotics enthusiasts.
1 Introduction and Overview page
1(14)
1.1 Motivation and Background
1(4)
1.2 Purpose of This Book
5(1)
1.3 How to Use This Book
6(2)
1.4 Suggested Reading
8(1)
1.5 A Brief History of Robot Grasp Mechanics
9(6)
References
12(3)
Part I Basic Geometry of the Grasping Process
15(118)
2 Rigid-Body Configuration Space
17(21)
2.1 The Notion of Configuration Space
17(3)
2.2 Configuration Space Obstacles
20(3)
2.3 The C-Obstacle Normal
23(3)
2.4 The C-Obstacle Curvature
26(12)
Bibliographical Notes
30(1)
Appendix: Details of Proofs
31(3)
Exercises
34(3)
References
37(1)
3 Configuration Space Tangent and Cotangent Vectors
38(16)
3.1 C-Space Tangent Vectors
38(3)
3.2 C-Space Cotangent Vectors
41(2)
3.3 Line Geometry of Tangent and Cotangent Vectors
43(11)
Bibliographical Notes
48(1)
Exercises
49(3)
References
52(2)
4 Rigid-Body Equilibrium Grasps
54(27)
4.1 Rigid-Body Contact Models
54(5)
4.2 The Grasp Map
59(2)
4.3 The Equilibrium Grasp Condition
61(4)
4.4 The Internal Grasp Forces
65(2)
4.5 The Moment Labeling Technique
67(14)
Bibliographical Notes
71(1)
Appendix: Proof of Moment Labeling Lemma
72(1)
Exercises
73(7)
References
80(1)
5 A Catalog of Equilibrium Grasps
81(52)
5.1 Line Geometry of Equilibrium Grasps
81(2)
5.2 The Planar Equilibrium Grasps
83(14)
5.3 The Spatial Equilibrium Grasps
97(13)
5.4 Equilibrium Grasps Involving Higher Numbers of Fingers
110(23)
Bibliographical Notes
111(1)
Appendix I Proof Details
112(5)
Appendix II The Dimension of the Set of Frictionless Equilibrium Grasps
117(3)
Exercises
120(12)
References
132(1)
Part II Frictionless Rigid-Body Grasps and Stances
133(166)
6 Introduction to Secure Grasps
135(12)
6.1 Immobilizing Grasps
135(4)
6.2 Wrench Resistant Grasps
139(3)
6.3 Duality of Immobilizing and Wrench-Resistant Grasps under Frictionless Contact Conditions
142(2)
6.4 A Forward Look at the
Chapters of Part II
144(3)
Bibliographical Notes
144(1)
Appendix: Proof Details
145(1)
References
146(1)
7 First-Order Immobilizing Grasps
147(20)
7.1 The First-Order Free Motions
147(4)
7.2 The First-Order Mobility Index
151(3)
7.3 First-Order Immobilization
154(3)
7.4 Graphical Interpretation of the First-Order Mobility Index
157(10)
Bibliographical Notes
160(1)
Appendix: Proof Details
161(2)
Exercises
163(3)
References
166(1)
8 Second-Order Immobilizing Grasps
167(27)
8.1 The Second-Order Free Motions
167(4)
8.2 The Second-Order Mobility Index
171(2)
8.3 Second-Order Immobilization
173(4)
8.4 Graphical Depiction of Second-Order Mobility
177(17)
Bibliographical Notes
182(1)
Appendix: Proof Details
183(5)
Exercises
188(5)
References
193(1)
9 Minimal Immobilizing Grasps
194(38)
9.1 Minimal First-Order Immobilizing Grasps
195(3)
9.2 The Maximal Inscribed Disc
198(3)
9.3 Minimal Second-Order Immobilizing Grasps
201(7)
9.4 Minimal Second-Order Immobilization of Polygons
208(4)
9.5 Minimal Second-Order Immobilization of Polyhedral Objects
212(20)
Bibliographical Notes
220(1)
Appendix I Details Concerning the Inscribed Disc
220(2)
Appendix II Details Concerning Minimal Second-Order Immobilization of 2-D Objects
222(3)
Exercises
225(5)
References
230(2)
10 Multi-Finger Caging Grasps
232(24)
10.1 Robot Hands Governed by a Scalar Shape Parameter
233(1)
10.2 Configuration Space of One-Parameter Robot Hands
234(2)
10.3 C-Space Representation of Cage Formations
236(3)
10.4 The Caging Set Puncture Point
239(3)
10.5 Graphical Depiction of Two-Finger Cage Formations
242(14)
Bibliographical Notes
246(1)
Appendix: Proof Details
247(3)
Exercises
250(4)
References
254(2)
11 Frictionless Hand-Supported Stances under Gravity
256(43)
11.1 C-Space Representation of Equilibrium Stances
257(4)
11.2 The Stable Equilibrium Stances
261(3)
11.3 The Stance Stability Test
264(5)
11.4 Formulas for the Stance Stability Test
269(2)
11.5 The Stable Equilibrium Region of 2-D Stances
271(6)
11.6 The Stable Equilibrium Region of 3-D Stances
277(22)
Bibliographical Notes
285(1)
Appendix: Proof Details
286(3)
Exercises
289(8)
References
297(2)
Part III Frictional Rigid-Body Grasps and Stances
299(110)
12 Wrench-Resistant Grasps
301(20)
12.1 Wrench Resistance and Internal Grasp Forces
302(3)
12.2 Wrench Resistance as a Linear Matrix Inequality
305(3)
12.3 Grasp Force Optimization
308(2)
12.4 Grasp Controllability
310(11)
Bibliographical Notes
315(1)
Exercises
315(4)
References
319(2)
13 Grasp Quality Functions
321(28)
13.1 Quality Functions Based on Rigid-Body Kinematics
322(1)
13.2 Quality Functions Based on the Grasp Matrix
323(5)
13.3 Quality Functions Based on the Grasp Polygon
328(2)
13.4 Quality Functions Based on Contact Point Locations
330(3)
13.5 Quality Functions Based on Contact Force Magnitudes
333(3)
13.6 Finger Force Optimization Based on Task Specification
336(13)
Bibliographical Notes
339(1)
Appendix I Review of Distance Metrics and Norms
340(1)
Appendix II Behavior of the Grasp Matrix under Coordinate Transformations
341(2)
Appendix III The Wrench Resistance Regions
343(1)
Exercises
344(4)
References
348(1)
14 Hand-Supported Stances under Gravity -- Part I
349(22)
14.1 Local Wrench-Resistant Stances
350(2)
14.2 The Feasible Equilibrium Region of 2-D Stances
352(3)
14.3 Graphical Construction of the 2-D Stance Equilibrium Region
355(3)
14.4 Safety Margin on the 2-D Stance Equilibrium Region
358(13)
Bibliographical Notes
363(1)
Appendix: Proof Details
363(2)
Exercises
365(5)
References
370(1)
15 Hand-Supported Stances under Gravity --- Part II
371(38)
15.1 Basic Properties of 3-D Equilibrium Stances
372(2)
15.2 The Tame Hand-Supported Stances
374(3)
15.3 A Scheme for Computing the Stance Equilibrium Region
377(2)
15.4 The Boundary of the Net Wrench Cone W
379(4)
15.5 Critical Contact Forces That Contribute Boundary Facets to W
383(4)
15.6 The Stance Equilibrium Region Boundary Curves
387(4)
15.7 Onset of Non-Static Motion Modes at the Contacts
391(18)
Bibliographical Notes
392(1)
Appendix: Proofs and Technical Details
393(10)
Exercises
403(5)
References
408(1)
Part IV Grasping Mechanisms
409(69)
16 The Kinematics and Mechanics of Grasping Mechanisms
411(30)
16.1 The Relation between Finger-Joint Velocities and the Grasped Object Rigid-Body Velocity
411(6)
16.2 The Relation between Finger-Joint Torques and Grasped Object Wrenches
417(4)
16.3 The Four Types of Hand Mechanism Grasp Forces
421(6)
16.4 Effect of the Robot Hand on Wrench-Resistant Grasps
427(14)
Bibliographical Notes
434(1)
Appendix I The Jacobian of a Single Finger Mechanism
434(1)
Appendix II Resistant Contact Force Decomposition
435(1)
Exercises
436(4)
References
440(1)
17 Grasp Manipulability
441(13)
17.1 Instantaneous Manipulability
442(4)
17.2 Local Manipulability
446(8)
Bibliographical Notes
449(1)
Appendix: Proof of the Local Manipulability Theorem
450(1)
Exercises
451(2)
References
453(1)
18 Hand Mechanism Compliance
454(24)
18.1 One-Dimensional Stiffness and Compliance
454(3)
18.2 The Effects of Joint Compliance on Grasp Stiffness
457(6)
18.3 The Grasp Center of Stiffness
463(4)
18.4 Stability of Compliant Grasps
467(11)
Bibliographical Notes
471(1)
Appendix: Derivation of the Grasp Stiffness Matrix
471(4)
Exercises
475(1)
References
476(2)
Appendix A Introduction to Non-Smooth Analysis 478(8)
Appendix B Summary of Stratified Morse Theory 486(7)
Index 493
Elon Rimon is an Associate Professor in the Department of Mechanical Engineering at the Technion Israel Institute of Technology, Haifa. He has also been a Visiting Associate Faculty member at the California Institute of Technology. Professor Rimon was a finalist for the best paper award at the IEEE International Conference on Robotics and Automation in 1994 and 1996, for the Workshop on Algorithmic Foundations of Robotics in 2014 and 2016, and awarded best paper presentation at the Robotics Science and Systems Conference in 2013. Joel Burdick is the the Richard L. and Dorothy M. Hayman Professor of Mechanical Engineering and Bioengineering at the California Institute of Technology, where he has received the NSF Presidential Young Investigator award, the Office of Naval Research Young Investigator award, and the Feynman fellowship. He has been a finalist for the best paper award for the IEEE International Conference on Robotics and Automation in 1993, 1999, 2000, 2005, and 2016. Professor Burdick received the Popular Mechanics Breakthrough award in 2011.
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