Mechanics of robotic manipulation / Matthew T. Mason.

Format:

Book

Author/Creator:

Mason, Matthew T.

Series:

Intelligent robots and autonomous agents

Language:

English

Subjects (All):

Manipulators (Mechanism).

Robotics.

Physical Description:

1 PDF (xi, 253 pages) : illustrations.

Place of Publication:

Cambridge, Mass. : MIT Press, ©2001.

Language Note:

English

Summary:

""Manipulation" refers to a variety of physical changes made to the world around us. Mechanics of Robotic Manipulation addresses one form of robotic manipulation, moving objects, and the various processes involved--grasping, carrying, pushing, dropping, throwing, and so on. Unlike most books on the subject, it focuses on manipulation rather than manipulators. This attention to processes rather than devices allows a more fundamental approach, leading to results that apply to a broad range of devices, not just robotic arms. The book draws both on classical mechanics and on classical planning, which introduces the element of imperfect information. The book does not propose a specific solution to the problem of manipulation, but rather outlines a path of inquiry."

Contents:

Machine generated contents note: Chapter 1 Manipulation 1

1.1 Case 1: Manipulation by a human 1

1.2 Case 2: An automated assembly system 3

1.3 Issues in manipulation 5

1.4 A taxonomy of manipulation techniques 7

1.5 Bibliographic notes 8

Exercises 8

Chapter 2 Kinematics 11

2.1 Preliminaries 11

2.2 Planar kinematics 15

2.3 Spherical kinematics 20

2.4 Spatial kinematics 22

2.5 Kinematic constraint 25

2.6 Kinematic mechanisms 34

2.7 Bibliographic notes 36

Exercises 37

Chapter 3 Kinematic Representation 41

3.1 Representation of spatial rotations 41

3.2 Representation of spatial displacements 58

3.3 Kinematic constraints 68

3.4 Bibliographic notes 72

Exercises 72

Chapter 4 Kinematic Manipulation 77

4.1 Path planning 77

4.2 Path planning for nonholonomic systems 84

4.3 Kinematic models of contact 86

4.4 Bibliographic notes 88

Exercises 88 Chapter 5 Rigid Body Statics 93

5.1 Forces acting on rigid bodies 93

5.2 Polyhedral convex cones 99

5.3 Contact wrenches and wrench cones 102

5.4 Cones in velocity twist space 104

5.5 The oriented plane 105

5.6 Instantaneous centers and Reuleaux's method 109

5.7 Line of force; moment labeling 110

5.8 Force dual 112

5.9 Summary 117

5.10 Bibliographic notes 117

Exercises 118

Chapter 6 Friction 121

6.1 Coulomb's Law 121

6.2 Single degree-of-freedomproblems 123

6.3 Planar single contact problems 126

6.4 Graphical representation of friction cones 127

6.5 Static equilibrium problems 128

6.6 Planar sliding 130

6.7 Bibliographic notes 139

Exercises 139

Chapter 7 Quasistatic Manipulation 143

7.1 Grasping and fixturing 143

7.2 Pushing 147

7.3 Stable pushing 153

7.4 Parts orienting 162

7.5 Assembly 168

7.6 Bibliographic notes 173

Exercises 175

Chapter 8 Dynamics 181

8.1 Newton's laws 181

8.2 A particle in three dimensions 181

8.3 Moment of force; moment of momentum 183

8.4 Dynamics of a system of particles 184

8.5 Rigid body dynamics 186

8.6 The angular inertia matrix 189

8.7 Motion of a freely rotating body 195

8.8 Planar single contact problems 197

8.9 Graphical methods for the plane 203

8.10 Planar multiple-contact problems 205

8.11 Bibliographic notes 207

Exercises 208

Chapter 9 Impact 211

9.1 Aparticle 211

9.2 Rigid body impact 217

9.3 Bibliographic notes 223

Exercises 223

Chapter 10 Dynamic Manipulation 225

10.1 Quasidynamic manipulation 225

10.2 Briefly dynamic manipulation 229

10.3 Continuously dynamic manipulation 230

10.4 Bibliographic notes 232

Exercises 235.

Notes:

Includes bibliographical references (pages [241]-245) and index.

"A Bradford book."

OCLC-licensed vendor bibliographic record.

ISBN:

0-262-26374-2

0-262-25662-2

9786612096587

1-282-09658-3

0-585-43672-X

OCLC:

51938224