When a person picks up a metal part and clamps it in the chuck of a lathe, he begins with his arm, proceeds with his wrist and finishes with his fingers. The arm brings the part near the chuck. The wrist positions the part, giving it the proper orientation to slide in. After the part is inserted, the wrist and fingers make tiny corrections to ensure that it is correctly seated. Today's robot attempting the same operations is at a grave disadvantage if it has to make all motions with the arm. The following work investigates the use of robotic wrists and hands to help industrial robots perform the fine motions needed in a metal working cell. Chapters 1 and 2 are an introduction to the field and a review of previous investigations on related subjects. Little work has been done on grasping and fine manipulation with a robot hand or wrist, but the related subjects of robot arm dynamics and control have an extensive literature.

Keywords

Authors and Affiliations

Stanford University, USA

Mark R. Cutkosky

Bibliographic Information

Book Title: Robotic Grasping and Fine Manipulation
Authors: Mark R. Cutkosky
Series Title: The Springer International Series in Engineering and Computer Science
DOI: https://doi.org/10.1007/978-1-4684-6891-5
Publisher: Springer New York, NY
eBook Packages: Springer Book Archive
Copyright Information: Kluwer Academic Publishers 1985
Softcover ISBN: 978-1-4684-6893-9Published: 01 March 2012
eBook ISBN: 978-1-4684-6891-5Published: 06 December 2012
Series ISSN: 0893-3405
Edition Number: 1
Number of Pages: 192
Topics: Control, Robotics, Mechatronics, Electrical Engineering

Publish with us

Policies and ethics

Authors:

Sections

Buy it now

Buying options

Other ways to access

Table of contents (8 chapters)

Front Matter

Back Matter

About this book