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 | ||
+ | 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 == |
Revision as of 02:30, 25 July 2009
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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.