Manipulator Grasping and Pushing Operations

Title: en_US Manipulator Grasping and Pushing Operations
Creator: en_US Mason, Matthew Thomas
Date: 2004-10-20T20:02:35Z
Date Available: 2004-10-20T20:02:35Z
Date Issued: en_US 1982-06-01
Identifier: en_US AITR-690
uri: http://hdl.handle.net/1721.1/6853
Abstract: en_US The primary goal of this research is to develop theoretical tools for analysis, synthesis, application of primitive manipulator operations. The primary method is to extend and apply traditional tools of classical mechanics. The results are of such a general nature that they address many different aspects of industrial robotics, including effector and sensor design, planning and programming tools and design of auxiliary equipment. Some of the manipulator operations studied are: (1) Grasping an object. The object will usually slide and rotate during the period between first contact and prehension. (2) Placing an object. The object may slip slightly in the fingers upon contact with the table as the base aligns with the table. (3) Pushing. Often the final stage of mating two parts involves pushing one object into the other.
Extent: en_US 142 p.; 8112949 bytes; 6346804 bytes
Format: application/postscript; application/pdf
Language: en_US
Relation: en_US AITR-690