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Author Trinkle, J.C. ♦ Ram, R.C. ♦ Farahat, A.O. ♦ Stiller, P.F.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©1993
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Fingers ♦ Robots ♦ Stability ♦ Friction ♦ Arm ♦ Actuators ♦ Counting circuits ♦ Manipulators ♦ Jamming ♦ Couplings
Abstract When robotic hands or arms are capable of enveloping the workpieces that they manipulate, envelopment of the workpiece ensures grasp maintenance even if the object experiences significant external forces in directions unknown prior to grasp synthesis. The enveloping mechanism is useful in low-friction and microgravity environments. First-order stability cells are defined. They are used to plan a planar, whole-arm, manipulation task of a slippery workpiece. For most, but not all, of the plan, the workpiece is enveloped. Experimental results are presented.
Description Author affiliation: Texas A&M Univ., College Station, TX, USA (Trinkle, J.C.; Ram, R.C.; Farahat, A.O.; Stiller, P.F.)
ISBN 0818634502
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 1993-05-02
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 702.04 kB
Page Count 7
Starting Page 442
Ending Page 448


Source: IEEE Xplore Digital Library