Robotics Research Technical Report: Finding Effective Force-Targets for Two-Dimensional Multifinger Frictional Grips (Classic Reprint) - Softcover
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Excerpt from Robotics Research Technical Report: Finding Effective Force-Targets for Two-Dimensional Multifinger Frictional Grips
In this paper we consider the problem of calculating force targets for a collection of 7: fingers which grasp a two-dimensional object at known posi tions, at which the normals to the surface are also assumed to be known at least approximately. If the points at which the fingers touch the body do not allow a positive grip to be exerted (i.e. A grip in which the fingers hold the body in equilibrium by exerting friction-free forces in the directions of the corresponding inward-directed normals), it is appropriate to find the smallest coefficient of friction for which it is possible to assign a set of finger-force targets which hold the object at equilibrium and such that each individual force lies within the corresponding cone of friction. We present an algorithm for this problem which runs in time O(u log3n log log n). We also present another algorithm for preprocessing the given data so as to allow fast compu tation of the desired coefficient of friction for the case in which one needs to balance any given 'query' external force and torque. Finally we discuss simpler variants of our techniques which are likely to be more efficient when the problem is solved for a small number of fingers.
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Excerpt from Robotics Research Technical Report: Finding Effective Force-Targets for Two-Dimensional Multifinger Frictional Grips
In this paper we consider the problem of calculating force targets for a collection of 7: fingers which grasp a two-dimensional object at known posi tions, at which the normals to the surface are also assumed to be known at least approximately. If the points at which the fingers touch the body do not allow a positive grip to be exerted (i.e. A grip in which the fingers hold the body in equilibrium by exerting friction-free forces in the directions of the corresponding inward-directed normals), it is appropriate to find the smallest coefficient of friction for which it is possible to assign a set of finger-force targets which hold the object at equilibrium and such that each individual force lies within the corresponding cone of friction. We present an algorithm for this problem which runs in time O(u log3n log log n). We also present another algorithm for preprocessing the given data so as to allow fast compu tation of the desired coefficient of friction for the case in which one needs to balance any given 'query' external force and torque. Finally we discuss simpler variants of our techniques which are likely to be more efficient when the problem is solved for a small number of fingers.
About the Publisher
Forgotten Books publishes hundreds of thousands of rare and classic books. Find more at www.forgottenbooks.com
This book is a reproduction of an important historical work. Forgotten Books uses state-of-the-art technology to digitally reconstruct the work, preserving the original format whilst repairing imperfections present in the aged copy. In rare cases, an imperfection in the original, such as a blemish or missing page, may be replicated in our edition. We do, however, repair the vast majority of imperfections successfully; any imperfections that remain are intentionally left to preserve the state of such historical works.
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Robotics Research Technical Report (Classic Reprint)
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Paperback. Zustand: New. Print on Demand. This book is a timely exploration into a mechanical engineering approach to an optimal gripping system for robots. The author presents a gripping technique, using a system of fingers, that can be applied to objects with unpredictable surfaces and varying external forces. This is achieved through a mathematical formula that calculates the precise force each finger needs to exert to maintain a stable grip. The author proves that finding the smallest value for this formula is an NP-hard problem and provides two algorithms to produce either an exact solution or a close approximation to it. Ultimately, this book represents a significant contribution to the field of robotics, providing a theoretical framework for the development of more efficient and versatile gripping systems. 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. Bestandsnummer des Verkäufers 9781332089055_0
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Robotics Research Technical Report Finding Effective ForceTargets for TwoDimensional Multifinger Frictional Grips Classic Reprint
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PAP. Zustand: New. New Book. Shipped from UK. Established seller since 2000. Bestandsnummer des Verkäufers LW-9781332089055
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Robotics Research Technical Report Finding Effective ForceTargets for TwoDimensional Multifinger Frictional Grips Classic Reprint
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PAP. Zustand: New. New Book. Shipped from UK. Established seller since 2000. Bestandsnummer des Verkäufers LW-9781332089055
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Robotics Research Technical Report : Finding Effective Force-Targets for Two-Dimensional Multifinger Frictional Grips (Classic Reprint)
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Zustand: Hervorragend. Zustand: Hervorragend | Sprache: Englisch | Produktart: Bücher. Bestandsnummer des Verkäufers 26050773/1
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