Difference between revisions of "Multifingered Hand Kinematics"

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{{chapter header|Robot Dynamics and Control|Multifingered Hand Kinematics|Hand Dynamics and Control}}
 
{{chapter header|Robot Dynamics and Control|Multifingered Hand Kinematics|Hand Dynamics and Control}}
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In this chapter, we study the kinematics of a multifingered robot hand
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grasping an object.  Given a description of the fingers and the
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object, we derive the relationships between finger and object
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velocities and forces, and study conditions under which a grasp can be
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used to manipulate an object.  In addition to the usual fixed contact
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case, we also include a complete derivation of the kinematics of grasp
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when the fingers are allowed to roll or slide along the object.
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== Chapter Summary ==
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== Additional Information ==

Revision as of 02:30, 25 July 2009

Prev: Robot Dynamics and Control Chapter 5 - Multifingered Hand Kinematics Next: Hand Dynamics and Control

In this chapter, we study the kinematics of a multifingered robot hand grasping an object. Given a description of the fingers and the object, we derive the relationships between finger and object velocities and forces, and study conditions under which a grasp can be used to manipulate an object. In addition to the usual fixed contact case, we also include a complete derivation of the kinematics of grasp when the fingers are allowed to roll or slide along the object.

Chapter Summary

Additional Information