Detalles del libro
Formato
Tapa blanda
Páginas
47
Idioma
Inglés
Publicado
Jan 1, 2024
Editorial
Forgotten Books
ISBN-10
1332090389
ISBN-13
9781332090389
Descripción
Excerpt from Issues in Dextrous Manipulation
Dextrous Manipulation means handling objects skillfully and adroitly and involves operating manipulators with actively powered fingers. We would like to think of a robot as a machine which can be instructed to perform at least any task which a human can, at least as well as a human; however, the current state of robotics research is far from this goal. At this point, although there exist reasonably accurate mechanical manipulators, we do not know how to use them effectively, and therefore they are useful only in simple application domains, such as welding and spray painting. A dextrous hand is one with multiple articulated fingers (i.e. Fingers with two or more powered joints), each of which is an open kinematic chain, and possibly a palmar surface. It contains a large number of degrees of freedom, and can achieve fine resolution with high accuracy and at high speeds. Each of the fingers should contain position and force sensors and may additionally contain tactile sensors.
Dextrous Manipulation means handling objects skillfully and adroitly and involves operating manipulators with actively powered fingers. We would like to think of a robot as a machine which can be instructed to perform at least any task which a human can, at least as well as a human; however, the current state of robotics research is far from this goal. At this point, although there exist reasonably accurate mechanical manipulators, we do not know how to use them effectively, and therefore they are useful only in simple application domains, such as welding and spray painting. A dextrous hand is one with multiple articulated fingers (i.e. Fingers with two or more powered joints), each of which is an open kinematic chain, and possibly a palmar surface. It contains a large number of degrees of freedom, and can achieve fine resolution with high accuracy and at high speeds. Each of the fingers should contain position and force sensors and may additionally contain tactile sensors.