摘要:

AbstractAn appropriate arrangement of finger joints is very important since the stability of grasping an object greatly depends on that arrangement. Multijointed fingers can grasp an object with many points of contact each of which is pressed against the object as if wrapping up that object. The amount of the wrapped up area and the form of the finger when an object is grasped are therefore important factors for determining the stability of grasping. We propose the wrapping factor to be used for the evaluation of the stability of grasping by using these factors. We consider 28 models for the finger having three joints, and perform a simulation of their ability to grasp various shapes stably. Based on the simulation results, an appropriate arrangement of lengths between phalanges for a multijointed finger is presented.

ISSN:0741-2223    

DOI:10.1002/rob.4620010302

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1984

数据来源: WILEY

摘要:

AbstractAn inverse kinematic analysis addresses the problem of computing the sequence of joint motion from the Cartesian motion of an interested member, most often the end effector. Although the rates and accelerations are related linearly through the Jacobian, the positions go through a highly nonlinear transformation from one space to another. Hence, the closed‐form solution has been obtained only for rather simple manipulator configurations where joints intersect or where consecutive axes are parallel or perpendicular. For the case of redundant manipulators, the number of joint variables generally exceeds that of the constraints, so that in this case the problem is further complicated due to an infinite number of solutions. Previous approaches have been directed to minimize a criterion function, taking into account additional constraints, which often implies a time‐consuming optimization process. In this article, a different approach is taken to these problems. A Newton‐Raphson numerical procedure has been developed based on a composite Jacobian which now includes rows for all members under constraint. This procedure may be applied to solve the inverse kinematic problem for a manipulator of any mechanical configuration without having to derive beforehand a closed‐form solution. The technique is applicable to redundant manipulators since additional constraints on other members as well as on the end effector may be imposed. Finally, this approach has been applied to a seven degree‐of‐freedom manipulator, and its ability to avoid obstacles is d

ISSN:0741-2223    

DOI:10.1002/rob.4620010303

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1984

数据来源: WILEY

摘要:

AbstractIn this article an algorithm for the creation of line drawings of polyhedral scenes is described. It finds the two‐dimensional position of the vertices and it generates a topological description of the scene in terms of the connectiveness of the vertices by edges. Application of this algorithm on a stereoscopic pair of views yields the basis for the range data acquisition. The algorithm is far from complete yet, but the results are promisin

ISSN:0741-2223    

DOI:10.1002/rob.4620010304

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1984

数据来源: WILEY

摘要:

AbstractRobot vision, robotics vision, and computer vision are terms that have evolved over the past few years to include two separate but related functions that provide visual sensing for computerdriven robots. These two functions are “electro‐optical imaging” and “image processing.” The purpose of electro‐optical imaging is to convert optical radiation to an appropriate electronic signal for input to the robot's computer; whereas, the purpose of image processing is to extract useful information from the electronic image provided by the sensor. This article deals with the electro‐optical sensing part of robot vision. It describes the operation and properties of electro‐optical imaging sensors. The fundamental concepts of optical radiation, optical radiation quantities and units, and photon energies are defined. The fundamental principles for detecting optical radiation and definitions for the primary performance measures for optical detectors are given. A relatively comprehensive overview of the parameters used to describe imaging sensors is presented. Factors affecting these parameters and obtainable sensor performance are compared. Example design analyses are presented to show the interaction of various perfo

ISSN:0741-2223    

DOI:10.1002/rob.4620010305

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1984

数据来源: WILEY

ISSN:0741-2223    

DOI:10.1002/rob.4620010306

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1984

数据来源: WILEY

ISSN:0741-2223    

DOI:10.1002/rob.4620010301

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1984

数据来源: WILEY