Optimal initialization of manipulation dynamics by vorticity model of robot hand preshaping. Part II: Analyses of grasp initialization and its vorticity based optimization

DOI<link itemprop=identifier href="https://doi.org/10.1002/(SICI)1097-4563(200004)17:4<213::AID-ROB4>3.0.CO;2-V" /><213::AID-ROB4>3.0.CO;2-V 10.1002/(SICI)1097-4563(200004)17:4<213::AID-ROB4>3.0.CO;2-VzbMath0976.70007OpenAlexW1980515190MaRDI QIDQ4487000

İsmet Erkmen, Aydan M. Erkmen, A. E. Tekkaya

Publication date: 27 July 2000

Full work available at URL: https://doi.org/10.1002/(sici)1097-4563(200004)17:4<213::aid-rob4>3.0.co;2-v

zbMATH Keywords

stabilitymanipulabilitycontact location of finger tipsgrasp initializationmanipulation phaserobot arm graspingvorticity based optimization

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)

Cites Work

• Employment of non-symmetrical saw-tooth argument transformation method in the elasticity theory for layered composites

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