Planning, coordination and control of multi-fingered robot hands

Planning, coordination and control of multi-fingered robot hands

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-...

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Main Author: Chen, Jun.
Other Authors: Mohamed Zribi
Format: Theses and Dissertations
Published: 2010
Subjects:
DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
Online Access:http://hdl.handle.net/10356/38955
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Institution: Nanyang Technological University
id sg-ntu-dr.10356-38955
record_format dspace
spelling sg-ntu-dr.10356-389552023-07-04T16:01:19Z Planning, coordination and control of multi-fingered robot hands Chen, Jun. Mohamed Zribi School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics 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-object system, and adaptive impedance control of multi-fingered robot hands. Master of Engineering 2010-05-21T03:37:08Z 2010-05-21T03:37:08Z 1997 1997 Thesis http://hdl.handle.net/10356/38955 NANYANG TECHNOLOGICAL UNIVERSITY 124 p. application/pdf
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
topic DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
spellingShingle DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
Chen, Jun.
Planning, coordination and control of multi-fingered robot hands
description 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-object system, and adaptive impedance control of multi-fingered robot hands.
author2 Mohamed Zribi
author_facet Mohamed Zribi
Chen, Jun.
format Theses and Dissertations
author Chen, Jun.
author_sort Chen, Jun.
title Planning, coordination and control of multi-fingered robot hands
title_short Planning, coordination and control of multi-fingered robot hands
title_full Planning, coordination and control of multi-fingered robot hands
title_fullStr Planning, coordination and control of multi-fingered robot hands
title_full_unstemmed Planning, coordination and control of multi-fingered robot hands
title_sort planning, coordination and control of multi-fingered robot hands
publishDate 2010
url http://hdl.handle.net/10356/38955
_version_ 1772827445440806912

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