Robotic grasping and fine manipulation
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1. Introduction.- 2. Previous Investigations of Fine Manipulation and Grasping.- 2.1 Fine Motion and Control.- 2.2 Robotic Wrists.- 2.3 Applications to Assembly and Surface Finishing Tasks.- 2.3.1 Assembly.- 2.3.2 Surface Finishing.- 2.4 Passive Hands and Grippers.- 2.5 Active Hands and Grasping.- 3. Robot Tasks in a Metal-Working Cell.- 3.1 Task Descriptions.- 3.1.1 Materials Handling.- 3.1.2 Assembly.- 3.1.3 Grasping.- 3.1.4 Surface Finishing and Shaping.- 3.1.4.1 Contour following.- 3.1.4.2 Contour modification.- 3.2 Discussion: Coupled Fine and Gross Motions.- 4. A Wrist for Fine-Motion Tasks.- 4.1 Wrist Description.- 4.2 Control Architecture.- 4.3 Experiments.- 4.3.1 Contour Following.- 4.3.1.1 State estimation.- 4.3.1.2 Control law.- 4.3.2 Grinding.- 4.4 Discussion of Results.- 5. Analysis for an Active Robot Hand.- 5.1 The Promise of Further Dexterity.- 5.2 Introduction to Grasp Analysis.- 5.2.1 Grasping Model and Assumptions.- 5.2.2 Stiffness, Strength and Stability of a Grasp.- 5.2.3 Procedure for Establishing Grip Properties.- 5.2.4 Two-Dimensional Examples.- 5.2.4.1 Choosing among five grips: an example.- 5.2.4.2 An unstable example.- 5.3 Extension to Three-Dimensional Problems.- 5.3.1 Forward Force and Displacement Relations.- 5.3.2 Summary of Forward Transformations.- 5.3.3 Finger Motions and Constraints.- 5.3.4 Constraints at a Contact.- 5.3.4.1 Case 1: exactly determined.- 5.3.4.2 Case 2: under determined.- 5.3.4.3 Case 3: over determined.- 5.3.5 Computing Changes in Grip Force.- 5.4 A Closer Look at Contact Conditions.- 5.4.1 Point Contact.- 5.4.2 Curved Finger Contact.- 5.4.2.1 Effects of rolling motion.- 5.4.3 Very Soft Finger.- 5.4.3.1 Effects of deforming fingertip.- 5.4.4 Soft, Curved Fingertips.- 5.5 Examples.- 5.5.1 Pointed Fingers.- 5.5.2 Procedure for Left Finger.- 5.5.2.1 Discussion.- 5.5.3 Curved Fingertips.- 5.5.3.1 Discussion.- 5.5.4 Very Soft Fingers.- 5.5.4.1 Discussion.- 5.6 Summary.- 6. Natural Examples of Grasping.- 6.1 The Human Hand.- 6.1.1 Conformability.- 6.1.2 Muscles.- 6.1.3 Hand/Wrist Interaction.- 6.1.4 Finger Coupling and Specialization.- 6.1.5 Grasps.- 6.1.6 Sensation and Control.- 6.2 Other Natural Examples.- 7. Designing Hands and Wrists for Manufacturing.- 7.1 Wrist Design.- 7.2 Hand Design.- 7.2.1 Grasping vs Manipulation.- 7.3 Control.- 8. Summary and Conclusions.- Appendix for Grasp Analysis.- A.1 Matrix Identities.- A.2 Matrix Method for Under Determined Finger Motions.- A.3 Differential Jacobians.- A.4 Rolling Contact.- A.5 Details for Examples in Section 5.5.- References.