Robots interact with the world through curves and surfaces — the subjects of study in differential geometry. This book applies the moving-frame method, developed extensively by Élie Cartan, and the adjoint approach, conceived by Ernesto Cesàro, to study the kinematics of two surfaces subject to rolling contact and sliding-rolling contact to demonstrate the applications in robotic in-hand manipulation.Firstly, it explores two surfaces, and the geometry of both surfaces comes into play. Secondly, the book focuses on the geometry of the two surfaces within the encompassing space (extrinsic) rather than within the surfaces (intrinsic) because the book is concerned with the kinematics of one surface in three-dimensional Euclidean space — the real world. The book then concludes by applying this approach in robotic in-hand manipulation in the last chapter.
Lei Cui & Jian S Dai
SLIDING-ROLLING CONTACT AND IN-HAND MANIPULATION [EPUB ebook]
SLIDING-ROLLING CONTACT AND IN-HAND MANIPULATION [EPUB ebook]
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Língua Inglês ● Formato EPUB ● Páginas 224 ● ISBN 9781786348449 ● Tamanho do arquivo 13.4 MB ● Editora World Scientific Publishing Company ● Cidade Singapore ● País SG ● Publicado 2020 ● Carregável 24 meses ● Moeda EUR ● ID 7524152 ● Proteção contra cópia Adobe DRM
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