Control of Multifinger Manipulation Theoretical And Experimental Studies Using
Control of Multifinger Manipulation Theoretical And Experimental Studies Using
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To quickly assess the difficulty of the text, read a short excerpt:
= E, X]/;^r. = r (2) where r, is the vector from the nominal center of torque to the position of the i"' finger, and x designates the vector obtained from x by rotating 90° counterclockwise.
Using the definition of the grip transformation G and introducing vectors F — {Fi, . . . , Fk) and w = (E, r), we can write them as G{F) = w. (3) We now seek a right inverse for G that will give us finger forces satisfying the frictionaJ constraints. The linear transformation G maps the set of vectors F ont...o the set of object force/torque vectors w. We assume we have three noncolinear gripping points, so G is of full rank. Hence G has the pseudoinverse G"*" = G^{GG^)~^, and the solutions to Equation 3 can be written as G+w + e, (4) where e is a solution of the homogeneous equation Ge = 0. The vector e could be considered a set of purely gripping forces which hold the object in equilibrium (see [39]). It is not true though, that any solution of the 12 homogeneous equation will in fact grasp the object.
What to read after Control of Multifinger Manipulation Theoretical And Experimental Studies Using?
You can find similar books in the "Read Also" column, or choose other free books by James Demmel to read onlineMoreLess
To quickly assess the difficulty of the text, read a short excerpt:
= E, X]/;^r. = r (2) where r, is the vector from the nominal center of torque to the position of the i"' finger, and x designates the vector obtained from x by rotating 90° counterclockwise.
Using the definition of the grip transformation G and introducing vectors F — {Fi, . . . , Fk) and w = (E, r), we can write them as G{F) = w. (3) We now seek a right inverse for G that will give us finger forces satisfying the frictionaJ constraints. The linear transformation G maps the set of vectors F ont...o the set of object force/torque vectors w. We assume we have three noncolinear gripping points, so G is of full rank. Hence G has the pseudoinverse G"*" = G^{GG^)~^, and the solutions to Equation 3 can be written as G+w + e, (4) where e is a solution of the homogeneous equation Ge = 0. The vector e could be considered a set of purely gripping forces which hold the object in equilibrium (see [39]). It is not true though, that any solution of the 12 homogeneous equation will in fact grasp the object.
What to read after Control of Multifinger Manipulation Theoretical And Experimental Studies Using?
You can find similar books in the "Read Also" column, or choose other free books by James Demmel to read onlineMoreLess
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