LEADER 00947cam0-22003251i-450- 001 990002549770403321 005 20050627120750.0 035 $a000254977 035 $aFED01000254977 035 $a(Aleph)000254977FED01 035 $a000254977 100 $a20030910d1982----km-y0itay50------ba 101 0 $aeng 102 $aDE 200 1 $aSchauder bases in Banach Spaces of Continuous Functions$fZbigniew Samadeni 210 $aBerlin$cSpringer Verlag$d1982 215 $aVI, 135 p.$d24 cm 225 1 $aLecture notes in mathematics$v918 610 0 $aAnalisi funzionale$aSpazi funzionali 676 $a515 700 1$aSemadeni,$bZbigniew$0103893 801 0$aIT$bUNINA$gRICA$2UNIMARC 901 $aBK 912 $a990002549770403321 952 $aMXI-C-11$b3489$fMAS 952 $aC-20-(918$b20773$fMA1 959 $aMAS 959 $aMA1 996 $aSchauder bases in Banach spaces of continuous functions$981007 997 $aUNINA LEADER 05655nam 2200709Ia 450 001 9910972859303321 005 20200520144314.0 010 $a1-281-91182-8 010 $a9786611911829 010 $a981-277-184-0 035 $a(CKB)1000000000408100 035 $a(EBL)1679578 035 $a(OCoLC)879074030 035 $a(SSID)ssj0000159979 035 $a(PQKBManifestationID)11149779 035 $a(PQKBTitleCode)TC0000159979 035 $a(PQKBWorkID)10181388 035 $a(PQKB)11374026 035 $a(WSP)00006610 035 $a(Au-PeEL)EBL1679578 035 $a(CaPaEBR)ebr10255595 035 $a(CaONFJC)MIL191182 035 $a(Perlego)848127 035 $a(MiAaPQ)EBC1679578 035 $a(EXLCZ)991000000000408100 100 $a20071130d2007 uy 0 101 0 $aeng 135 $aur|n|---||||| 181 $ctxt 182 $cc 183 $acr 200 10$aFundamentals of robotic grasping and fixturing /$fCaihua Xiong, Han Ding, Youlun Xiong 205 $a1st ed. 210 $aSingapore ;$aHackensack, NJ $cWorld Scientific$dc2007 215 $a1 online resource (228 p.) 225 1 $aSeries on manufacturing systems and technology ;$vv. 3 300 $aDescription based upon print version of record. 311 08$a981-277-183-2 320 $aIncludes bibliographical references and index. 327 $aContents; Preface; Chapter 1 Robotic Grasp and Workpiece-Fixture Systems; 1.1 Introduction; 1.2 Robotic Manipulation and Multifingered Robotic Hands ; 1.3 AMT and Fixtures; 1.4 Comparison between Grasping and Fixturing; 1.5 Bibliography; Chapter 2 Qualitative Analysis and Quantitative Evaluation of Form-Closure Grasping/Fixturing; 2.1 Introduction; 2.2 Qualitative Analysis; 2.2.1 Kinematic Characteristics of Grasping/Fixturing; 2.2.2 Discriminances of Form-Closure Grasping/Fixturing; 2.2.3 Minimum Number of Contacts with Frictionless; 2.3 Quantitative Evaluation; 2.3.1 Evaluation Criteria 327 $a2.3.2 Numerical Example2.4 Summary; 2.5 Bibliography; Chapter 3 Stability Index and Contact Configuration Planning of Force-Closure Grasping/Fixturing; 3.1 Introduction; 3.2 Description of Contacts with Friction; 3.3 Conditions of Force Closure Grasp; 3.4 Grasp Stability Index; 3.4.1 Definition of the Grasp Stability Index; 3.4.2 Some Properties of the Index; 3.4.3 Contact Configuration Planning; 3.5 Examples; 3.6 Summary; 3.7 Bibliography; Chapter 4 Active Grasp Force Planning; 4.1 Introduction; 4.2 Nonlinear Programming in Grasp; 4.3 Force Planning Using Neural Networks; 4.4 Simulation 327 $a4.5 Summary4.6 Bibliography; Chapter 5 Grasp Capability Analysis; 5.1 Introduction; 5.2 Evaluation of Multifingered Grasp Capability; 5.3 Numerical Example; 5.4 Summary; 5.5 Bibliography; Chapter 6 Compliant Grasping with Passive Forces; 6.1 Introduction; 6.2 The Model of Compliant Grasping/Fixturing; 6.3 Local Elastic Contact Model; 6.4 Deformation Compatible Constraints for All Contacts; 6.5 Stability of Grasping/Fixturing Systems; 6.6 Passive Force Closure Prediction; 6.7 Numerical Example; 6.8 Summary; 6.9 Bibliography; Chapter 7 Kinematics of Contacts and Rolling Manipulation 327 $a7.1 Introduction7.2 Kinematics of Pure Rolling Contact; 7.3 Kinematics of Manipulation with Rolling Contact; 7.4 Coordinating Manipulation of Multifingered Robotic Hands; 7.4.1 Classification of Grasp Phases; 7.4.2 Coordinating Manipulation Strategy; 7.5 Adjustment of Fingertip Contact Forces; 7.6 Experimental Results; 7.7 Summary; 7.8 Bibliography; Chapter 8 Dynamic Stability of Grasping/Fixturing; 8.1 Introduction; 8.2 Dynamic Equations of Motion for a Grasped/Fixtured Object; 8.3 Dynamic Stability Conditions and Quality Measure; 8.4 Summary; 8.5 Bibliography 327 $aChapter 9 Locating Error Analysis and Configuration Planning of Fixtures9.1 Introduction; 9.2 Error Mapping Model; 9.2.1 Fully Constrained Localization; 9.2.2 Over Constrained Localization; 9.2.3 Under Constrained Localization; 9.3 Locator and Clamp Configuration Characteristics; 9.3.1 Locator Configuration Characteristics; 9.3.2 Clamp Configuration Characteristics; 9.4 Evaluation Indexes of Fixturing; 9.4.1 Evaluation Index of Locator Configurations; 9.4.2 Stability Index of Fixturing; 9.4.3 Fixturing Resultant Index; 9.5 Configuration Planning of Fixturing; 9.5.1 Constraints 327 $a9.5.2 Planning Methods 330 $a This book provides a fundamental knowledge of robotic grasping and fixturing (RGF) manipulation. For RGF manipulation to become a science rather than an art, the content of the book is uniquely designed for a thorough understanding of the RGF from the multifingered robot hand grasp, basic fixture design principle, and evaluating and planning of robotic grasping/fixturing, and focuses on the modeling and applications of the RGF. Compared with existing publications, this volume concentrates more on abstract formulation, i.e. mathematical modeling of robotic grasping and fixturing. Thus, it will 410 0$aSeries on manufacturing systems and technology ;$vv. 3. 606 $aRobots$xMotion$xMathematical models 606 $aRobot hands$xDesign and construction 615 0$aRobots$xMotion$xMathematical models. 615 0$aRobot hands$xDesign and construction. 676 $a629.892 700 $aXiong$b Caihua$01829526 701 $aDing$b Han$f1963-$01829527 701 $aXiong$b You-Lun$01829528 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9910972859303321 996 $aFundamentals of robotic grasping and fixturing$94398950 997 $aUNINA