Fundamentals of Robotic Grasping and Fixturing

Abstract

Robotic Grasp and Workpiece-Fixture Systems Qualitative Analysis and Quantitative Evaluation of Form-Closure Grasping/Fixturing Stability Index and Contact Configuration Planning of Force-Closure Grasping/Fixturing Active Grasp Force Planning Grasp Capability Analysis Compliant Grasping with Passive Forces Kinematics of Contacts and Rolling Manipulation Dynamic Stability of Grasping/Fixturing Locating Error Analysis and Configuration Planning of Fixtures Clamping Planning in Workpiece-Fixture Systems.