ProceedingsIEEE Computer Society Press, 1995 - Artificial intelligence |
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Page 74
... finger- tips touch the object , power grasps may have multiple points of contact between the object and the surfaces of the fingers and palm . To determine the static contact forces and joint torques , we use the following equilibrium ...
... finger- tips touch the object , power grasps may have multiple points of contact between the object and the surfaces of the fingers and palm . To determine the static contact forces and joint torques , we use the following equilibrium ...
Page 77
... finger . When the contact force fis applied to the object , a reaction force - f , is exerted on one of the fingers . As shown in Figure 4b , the torque about the 6. Examples of Contact Force Computation 6.1 Two Dimensional Grasp Figure ...
... finger . When the contact force fis applied to the object , a reaction force - f , is exerted on one of the fingers . As shown in Figure 4b , the torque about the 6. Examples of Contact Force Computation 6.1 Two Dimensional Grasp Figure ...
Page 78
... fingers and the palm at one point . Suppose each finger has the struc- ture so that the two axes of the joints are parallel , and the three fingers are distributed symmetrically to the center of the palm . As shown in Figure 3b , the ...
... fingers and the palm at one point . Suppose each finger has the struc- ture so that the two axes of the joints are parallel , and the three fingers are distributed symmetrically to the center of the palm . As shown in Figure 3b , the ...
Contents
A New Approach for the Specification of Assembly Systems | 9 |
Plan Representation and Generation for Manufacturing Tasks | 22 |
Lessons Learned from a Second Generation Assembly Planning System | 41 |
Copyright | |
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algorithm analysis applied approach Artificial Intelligence assembly model assembly operations assembly planning assembly sequences assembly task camera cell clearance collision common ontology components Computer Conf Conference on Robotics configuration space constraints convex coordinates corresponding Cspace decomposition defined described disassembly domain ellipsoid equation example execution feasible fixels fixture function geometric global goal graph grasp gripper handler IEEE implemented initial input insertion intersection knowledge representation machine manipulator Manufacturing Systems mating method motion planning moving nodes object obstacles octree ontology optimal orientation parameters path path planning performance Petri net Petri nets planner position problem Proc process planning rendezvous-point represent representation robot motion Robotics and Automation scheduling sensor shown in Figure simulation snap fastener solution strategy structure subassemblies subgoal task planning ternary operations tion tool trajectory transition uncertainty vector voxels workcell workpieces