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We will prove here that, except for some separately treated special cases, the optimal equilibrium forces in the sense just described have the property that the 935 are all equal in absolute value. We also provide a procedure for computing these equilibrium forces, which reduces the (nonlinear) optimization problem to a generalized eigenvalue problem (which is easily solved).
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Excerpt from Optimal Three Finger Grasps
In Section 2 we give a more precise formulation of the problem and introduce some notation. In Section 3 we compare our approach to others in the literature. In Sections 4 and 5 we prove our result on the geometric properties of the optimal equilibrium forces.
In Section 6 we describe a procedure for finding those equilibrium forces. In Section 7 we present the generalizations.
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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- VerlagForgotten Books
- Erscheinungsdatum2018
- ISBN 10 1333506872
- ISBN 13 9781333506872
- EinbandTapa blanda
- SpracheEnglisch
- Anzahl der Seiten33
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Optimal Three Finger Grasps (Classic Reprint)
Print-on-DemandAnbieter: Forgotten Books, London, Vereinigtes Königreich
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Paperback. Zustand: 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. Bestandsnummer des Verkäufers 9781333506872_0
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Optimal Three Finger Grasps Classic Reprint
Anbieter: PBShop.store UK, Fairford, GLOS, Vereinigtes Königreich
Verkäuferbewertung 4 von 5 Sternen
PAP. Zustand: New. New Book. Shipped from UK. Established seller since 2000. Bestandsnummer des Verkäufers LW-9781333506872
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