Sliding-Rolling Contact and In-Hand Manipulation
Sliding-Rolling Contact and In-Hand Manipulation
复制标题
滑动滚动接触和手动操作
DOI：
10.1142/q0249
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发表时间：
2020
期刊：
影响因子：
--
通讯作者：
Cui L
中科院分区：
文献类型：
--
作者：
Cui L
机器人通过曲线和曲面与世界互动，这是微分几何的研究主题。这本书适用于移动框架的方法，广泛发展的埃利·卡尔丹，和伴随的方法，设想埃内斯托Cesàro，研究运动学的两个表面受到滚动接触和滑动滚动接触，以证明应用在机器人手操纵。首先，它探索两个表面，两个表面的几何形状开始发挥作用。其次，这本书的重点是几何的两个表面内的包围空间（外在），而不是在表面（内在），因为这本书关注的是运动学的一个表面在三维欧几里德空间的真实的世界。然后，本书在最后一章中将这种方法应用于机器人手操作。
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.