Topics addressed include human grasp choice and robotic grasp analysis, opposition space and human prehension, coordination in normal and prosthetic reaching, and intelligent exploration by the human hand. This leads to a three-field set of equations of motion. This paper addresses the problem of synthesizing planar grasps that have force closure. It is known, ... Investigation of the dynamics of multibody mechanical systems subject to motion constraints is necessary for enhancing the understanding of their behavior through an improvement of their theoretical formulation. Dynamics, motion planning, and analysis. The contact equations also serve as a basis for an investigation of the kinematics of grasp. Recently, micro-sphere-based methods derived from the angular integration approach have been used for excluding fibres under compression in the modelling of soft biological tissues. A unified approach for motion and force control of robot ma-nipulators: The operational space formulation. and deflection, and flexible micro ribbon cable which allows electrical Kinematic and Force Analysis of Articulated Hands. Sufficient conditions to compute robust performance bounds are formulated using dissipation inequalities and IQCs. designed to be robust with respect to compliance. Read More. Prentice-Hall, second edi-tion, 1993. . For the hybrid pose/wrench control, we use the standard approach as presented in, On the design of computer controlled manipulators On the Theory and Practice of Robots and Ma-nipulators Kinematic and Force Analysis of Articulated Hands. manipulation of 3D objects by a multifingered robotic hand. Die Evolution lebender Organismen inspiriert heute die Konstruktion von Robotiksystemen für unterschiedliche Zwecke [1]. Attitude control of a space plat-form manipulator system using internal motion. This process systematizes and Biological and robotic grasp and manipulation are undeniably similar at the level of mechanical task performance. A new surface micromachining process has been developed for the fabrication of a wide variety of three-dimensional structures. inℜn ), with some potential actions as well to implement joint articulation, constraints, compliance, and so on. in space. In Mechanisms Confer-ence and International Symposium on Gearing and Transmissions, San Francisco, CA, October 1972. The kinematic configuration of R k is described by a rotation R k and a translation t k , which can be derived from x via forward kinematics, ... CoreRobotics utilizes an object-oriented approach in C++ to implement fast cross-platform thread management and timing, core math solvers (Kreyszig 2011), manipulator control (Craig 2004,R. In addition, all tools that humans and robots should use together are adapted to human needs. explicit solutions for steering a planar skater and a satellite with two In order to enrich the digital entertainment experience in the process of cultural tourism and promote traditional cultural communication in a novel and interesting way, we studied the human motion recognition algorithm based on the global body part features and the joint space local constraint features based on the bone data obtained by Kinect,. We present the dynamics modeling of this SmQ platform system and establish the condition for its full-actuation in SE(3). And it associates physical meaning to a purely geometric entity. The last formulation results in fast and simple polynomial time algorithms for directly constructing force closure grasps. The these hinged structures and spring locks, thousands of structures can be ... A Mathematical Introduction to Robotic Manipulation . can generate the affine maps from actuator control variables to A Mathematical Introduction to Robotic Manipulation March 1994. 1994. elements are fabricated in the plane of the wafer, and then rotated out One could characterize the bulk of this work as being nonconstructive in the sense that the authors gave sufficient conditions for the existence of a control which steered the state from one point to another but did not give a procedure for computing such a control. Theoretical and numerical aspects of the method were given. To circumvent tight thrust margin and weight budget of currently available rotor and battery technologies, we propose a novel design optimization framework, which maximizes the minimum-guaranteed control force/torque for any attitude while incorporating such important and useful aspects as inter-rotor aero-interference, anisotropic task requirement, gravity compensation, etc. Examples of the MMPS as installed on NASA's skylab and on an industrial robot are examined. Recent studies of human hand function and their implications for the design of robot hands are discussed in reviews and reports. In this study, we present a general embedding that wraps a detector/descriptor pair in order to increase viewpoint invariance by exploiting input depth maps. suggested. The method is useful for describing how a grasp will behave in the presence of external forces (e.g., when and how the fingertips will slide) and for planning how to control the fingers so that the grasped object will follow a desired trajectory. This, in turn, leads to development of more efficient and robust numerical techniques, which are useful in solving challenging engineering problems and yielding better designs in several technical areas, including mechanisms, biomechanics, automotive, railway, marine and aerospace structures [1]. workstation. Humanoid robots should be able to act directly in the human environment. After obtaining the characteristics of the position-singularity locus for a constant orientation and the orientation-singularity locus for a given position, the position-singularity path planning and orientation-singularity path planning are explored, respectively. Such a system happens to be “linear”, but it is defined on a space (the “Essential Manifold”) which is not a linear (vector) space. IEEE Journal on Robotics and Automation, RA-3(1):43–53, February 1987. Artificial hand mechanisms. To study the interdependence of movement segments, we asked participants to move an object from an initial position to a first and then on to a second target location. Such sensors have been used in conjunction with robot hands to identify objects, determine surface friction, detect slip, augment grasp stability, measure object mass, probe surfaces, and control collision and for a variety of other useful tasks. We introduce a novel perspective for viewing the “ego-motion reconstruction” problem as the estimation of the state of a dynamical system having an implicit measurement constraint and unknown inputs. By a particular choice of the general subsystem, the canonical basis of the original system can be obtained by the direct combination of the subsystems' principal elements. relative motion of these objects. Thus, in this study, we propose a discrete fibre dispersion model based on a systematic method for discretizing a unit hemisphere into a finite number of elementary areas, such as spherical triangles. Part I presents the fundamentals of dual quaternion algebra, starting from the basic definitions of complex numbers and rotations in the plane and then extending the idea to rigid motions in the tridimensional case by means of quaternions and dual quaternions. A form closure (or complete restraint) of a solid object is a finite set of wrenches (force-moment combinations) applied on the object, with the property that any other wrench acting on the object can be balanced by a positive combination of the original ones. The first goal of this Chapter is to describe the kinematics of a wheel with tire, mainly under steady-state conditions. A computational approach is provided that leverages both forms of the analysis conditions. By combining the local dexterity formulation and the eigenstiffness matrix, the two indices can be derived, which considers both the kinematic dexterity and the static rigidity of the tripod parallel kinematic machines. The manipulator’s control software, animation and simulation were developed using LabVIEW and Arduino. The planner is applied in simulation for achieving several non-trivial re-configuration tasks for (piecewise-) smooth convex objects demonstrating the promise of our approach. The planar skater has been simulated and animated on a graphics He derives a set of equations, called the compliant contact The developed vision system allowed detection and calculation of object positions within the manipulator’s workspace. The validity and numerical efficiency of this scheme is verified by applying it to several example systems. The inherent frame invariance of this modeling approach gives rise to very efficient recursive \(O ( n ) \) algorithms, for which the so-called “spatial operator algebra” is one example, and allows for use of readily available geometric data.