Skip to main content Accessibility help

We use cookies to distinguish you from other users and to provide you with a better experience on our websites. Close this message to accept cookies or find out how to manage your cookie settings.

Close cookie message
×
  1. Home
  2. Journals
  3. Robotica
  4. Volume 11
Journal Home
Refine listing

Refine listing

Access:
Publication date:

Actions for selected content:

Select all | Deselect all
  • View selected items
  • Export citations
  • Download PDF (zip)
  • Save to Kindle
  • Save to Dropbox
  • Save to Google Drive

Save Search

You can save your searches here and later view and run them again in "My saved searches".

Please provide a title, maximum of 40 characters.
Cancel
×
< Back to all issues

Volume 11 - November 1993

Contents

Page 4 of 6

Conference Reports

Research Article

  • Geometric modelling of bounded and frictional grasps

  • Y. L. Xiong, D. J. Sanger, D. R. Kerr
  • Published online by Cambridge University Press:
    09 March 2009, pp. 185-192

  • This paper, as an extension of an earlier paper, presents a geometrical representation and theoretical foundation of robot grasping that is affected by friction and by the magnitudes of normal contact forces. Grasp analysis and synthesis are based on the concepts of constraint cone (region), restraint cone and freedom cone in the force screw-space and location screw-space. In fact, the freedom cone is the aggregate of all the screws repelling and reciprocal to the grasp geometry (denoted by the restraint cone). Moreover, the constraint cone and the constraint region describe the effect of friction and the influence of the amplitudes of normal forces. The conditions of equilibrium grasp, stable grasp, form closure, force closure, and relative form closure are derived from the geometrical representation, and approaches are suggested for the design of adaptable fixtures, and for automatic grasp planning. It is shown that relative form closure is of great significance for frictional grasp, since it is possible to generate enough internal forces in the subspace spanned by the contacts and consequently produce corresponding friction forces in the reciprocal subspace.

Announcements

  • Announcements

  • Published online by Cambridge University Press:
    09 March 2009, pp. 95-96
    • Article
      • You have access
    • PDF
    • Export citation

Book Reviews

Reports and Surveys

Fornt matter

Conference Reports

Conference News

  • The 1St Ifac Workshop On Intelligent Autonomous Vehicles

  • D. Charnley
  • Published online by Cambridge University Press:
    09 March 2009, pp. 583-584
    • Article
      • You have access
    • PDF
    • Export citation

Correction

  • Correction

  • Published online by Cambridge University Press:
    09 March 2009, p. 193

  • The names of the authors of ‘Explicit Path Tracking by Autonomous Vehicles’ Robotica 10, Part 6, 539–554 (1992) should be Dong Hun Shin and Sarjiv Singh, and not as indicated. (Editor).

Book Reviews

Front matter

  • ROB volume 11 issue 4 Front matter

  • Published online by Cambridge University Press:
    09 March 2009, pp. f1-f6
    • Article
      • You have access
    • PDF
    • Export citation

Reports and Surveys

Book Reviews

Conference Reports

Conference News

Book Reviews

Front matter

  • ROB volume 11 issue 2 Front matter

  • Published online by Cambridge University Press:
    09 March 2009, p. f1
    • Article
      • You have access
    • PDF
    • Export citation

Page 4 of 6