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Dynamic whole-arm dexterous manipulation in the plane
| dc.creator | Yeap, Soon Lin | |
| dc.date.accessioned | 2012-06-07T22:39:14Z | |
| dc.date.available | 2012-06-07T22:39:14Z | |
| dc.date.created | 1994 | |
| dc.date.issued | 1994 | |
| dc.identifier.uri | https://hdl.handle.net/1969.1/ETD-TAMU-1994-THESIS-Y38 | |
| dc.description | Due to the character of the original source materials and the nature of batch digitization, quality control issues may be present in this document. Please report any quality issues you encounter to digital@library.tamu.edu, referencing the URI of the item. | en |
| dc.description | Includes bibliographical references. | en |
| dc.description.abstract | Dexterous manipulation is defined as the set of motions required to stably grasp an object in a robot hand and change its position and orientation through a series of coordinated motions. This thesis describes the design and implementation of a dexterous manipulation test-bed and its characterization. The main contribution of this thesis is to show that a dynamic model of a dexterous manipulation system can be used for predicting the feasibility of a quasistatic manipulation plan in a. dynamic environment. Contact forces between the object and manipulator were calculated to determine whether contacts were being maintained for the desired motion. C'Olllpressive contact forces indicate that contacts can be maintained for the specified manipulation plan and imply the likelihood that actual manipulation will succeed. Results of the solution of dynamic equations are given for selected polygons and video images of successful plans are shown. | en |
| dc.format.medium | electronic | en |
| dc.format.mimetype | application/pdf | |
| dc.language.iso | en_US | |
| dc.publisher | Texas A&M University | |
| dc.rights | This thesis was part of a retrospective digitization project authorized by the Texas A&M University Libraries in 2008. Copyright remains vested with the author(s). It is the user's responsibility to secure permission from the copyright holder(s) for re-use of the work beyond the provision of Fair Use. | en |
| dc.subject | electrical engineering. | en |
| dc.subject | Major electrical engineering. | en |
| dc.title | Dynamic whole-arm dexterous manipulation in the plane | en |
| dc.type | Thesis | en |
| thesis.degree.discipline | electrical engineering | en |
| thesis.degree.name | M.S. | en |
| thesis.degree.level | Masters | en |
| dc.type.genre | thesis | en |
| dc.type.material | text | en |
| dc.format.digitalOrigin | reformatted digital | en |
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