Planning stable in-hand reconfiguration of objects in two dimensions

Persistent Link:
http://hdl.handle.net/10150/278194
Title:
Planning stable in-hand reconfiguration of objects in two dimensions
Author:
Hunter, Jerry James, 1964-
Issue Date:
1990
Publisher:
The University of Arizona.
Rights:
Copyright © is held by the author. Digital access to this material is made possible by the University Libraries, University of Arizona. Further transmission, reproduction or presentation (such as public display or performance) of protected items is prohibited except with permission of the author.
Abstract:
This thesis presents a method to reconfigure objects in an articulated robotic hand, where reconfiguration is defined as moving an object from one orientation in the hand to another orientation. Several methods using object configuration rely on a stationary work area. These methods assume that the object is stably grasped by the hand, and is moved around the work area in an assembly process. This thesis assumes that the hand is the primary obstacle. The object now reacts to the hand instead of the work area. Reconfiguration of the object within the hand is the goal. Models were developed that portrayed the mechanics and the contacts for frictionless manipulation in a plane. Contact formation trees used in conjunction with the simulated mechanics is a unique method for solving this problem; the solution we attain is an optimal reconfiguration plan. (Abstract shortened with permission of author.)
Type:
text; Thesis-Reproduction (electronic)
Keywords:
Engineering, Electronics and Electrical.; Engineering, Mechanical.; Engineering, System Science.
Degree Name:
M.S.
Degree Level:
masters
Degree Program:
Graduate College
Degree Grantor:
University of Arizona
Advisor:
Trinkle, Jeff

Full metadata record

DC FieldValue Language
dc.language.isoen_USen_US
dc.titlePlanning stable in-hand reconfiguration of objects in two dimensionsen_US
dc.creatorHunter, Jerry James, 1964-en_US
dc.contributor.authorHunter, Jerry James, 1964-en_US
dc.date.issued1990en_US
dc.publisherThe University of Arizona.en_US
dc.rightsCopyright © is held by the author. Digital access to this material is made possible by the University Libraries, University of Arizona. Further transmission, reproduction or presentation (such as public display or performance) of protected items is prohibited except with permission of the author.en_US
dc.description.abstractThis thesis presents a method to reconfigure objects in an articulated robotic hand, where reconfiguration is defined as moving an object from one orientation in the hand to another orientation. Several methods using object configuration rely on a stationary work area. These methods assume that the object is stably grasped by the hand, and is moved around the work area in an assembly process. This thesis assumes that the hand is the primary obstacle. The object now reacts to the hand instead of the work area. Reconfiguration of the object within the hand is the goal. Models were developed that portrayed the mechanics and the contacts for frictionless manipulation in a plane. Contact formation trees used in conjunction with the simulated mechanics is a unique method for solving this problem; the solution we attain is an optimal reconfiguration plan. (Abstract shortened with permission of author.)en_US
dc.typetexten_US
dc.typeThesis-Reproduction (electronic)en_US
dc.subjectEngineering, Electronics and Electrical.en_US
dc.subjectEngineering, Mechanical.en_US
dc.subjectEngineering, System Science.en_US
thesis.degree.nameM.S.en_US
thesis.degree.levelmastersen_US
thesis.degree.disciplineGraduate Collegeen_US
thesis.degree.grantorUniversity of Arizonaen_US
dc.contributor.advisorTrinkle, Jeffen_US
dc.identifier.proquest1342004en_US
dc.identifier.bibrecord.b26475376en_US
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