000			02780nam a22003618i 4500
001			CR9781108552011
003			UkCbUP
005			20200127154048.0
006			m|||||o||d||||||||
007			cr||||||||||||
008			170913s2019||||enk o ||1 0|eng|d
020			_a9781108552011 (ebook)
020			_z9781108427906 (hardback)
040			_aUkCbUP _beng _erda _cUkCbUP
050	0	0	_aTJ211.43 _b.R56 2019
082	0	0	_a629.8/933 _223
100	1		_aRimon, Elon, _eauthor.
245	1	4	_aThe mechanics of robot grasping / _cElon Rimon, Joel Burdick.
264		1	_aCambridge : _bCambridge University Press, _c2019.
300			_a1 online resource (ix, 497 pages) : _bdigital, PDF file(s).
336			_atext _btxt _2rdacontent
337			_acomputer _bc _2rdamedia
338			_aonline resource _bcr _2rdacarrier
500			_aTitle from publisher's bibliographic system (viewed on 11 Oct 2019).
505	0		_aIntroduction and overview page -- Rigid-body configuration space -- Configuration space tangent and cotangent vectors -- Rigid body equilibrium grasps -- A catalog of equilibrium grasps -- Introduction to secure grasps -- First-order immobilizing grasps -- Second-order immobilizing grasps -- Minimal immobilizing grasps -- Multi-finger caging grasps -- Frictionless H and supported stances under gravity -- Wrench resistant grasps -- Grasp quality functions -- Hand supported stances under gravity, part I -- Hand supported stances under gravity, part II -- The kinematics and mechanics of grasping mechanisms -- Grasp manipulability -- Hand mechanism compliance.
520			_aIn this comprehensive textbook about robot grasping, readers will discover an integrated look at the major concepts and technical results in robot grasp mechanics. A large body of prior research, including key theories, graphical techniques, and insights on robot hand designs, is organized into a systematic review, using common notation and a common analytical framework. With introductory and advanced chapters that support senior undergraduate and graduate level robotics courses, this book provides a full introduction to robot grasping principles that are needed to model and analyze multi-finger robot grasps, and serves as a valuable reference for robotics students, researchers, and practicing robot engineers. Each chapter contains many worked-out examples, exercises with full solutions, and figures that highlight new concepts and help the reader master the use of the theories and equations presented.
650		0	_aRobot hands _vTextbooks.
650		0	_aMechanical movements _vTextbooks.
650		0	_aRobotics _vTextbooks.
700	1		_aBurdick, Joel Wakeman, _eauthor.
776	0	8	_iPrint version: _z9781108427906
856	4	0	_uhttps://doi.org/10.1017/9781108552011
999			_c525050 _d525048