Planning, coordination and control of multi-fingered robot hands

• المؤلف الرئيسي: Chen, Jun.
• مؤلفون آخرون: Mohamed Zribi
• التنسيق: Theses and Dissertations
• منشور في: 2010
• الموضوعات: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• الوصول للمادة أونلاين: http://hdl.handle.net/10356/38955

In this thesis, the problem of controlling multi-fingered robot hands is addressed. Several issues are explored in this research. These issues involve the kinematic analysis and modeling, dynamic analysis and control, contact force analysis and optimization, planning of the coordination of the hand-...