Sliding–Rolling Contact and In-Hand Manipulation

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.Contents: PrefaceAbout the AuthorsIntroductionThe Moving-Frame Method and Adjoint Approach:Curvatures of Curves and Surfaces via the Moving-Frame MethodThe Adjoint Approach to Curves and SurfacesForward Kinematics of Rolling–Sliding Contact:From Trajectories to Velocity: Forward Kinematics of Rigid Surfaces with Rolling ContactFrom Trajectories to Velocity: Forward Kinematics of Rigid Surfaces with Rolling–Sliding ContactInverse Kinematics of Rolling–Sliding Contact:From Velocity to Trajectories: Inverse Kinematics of Rigid Surfaces with Rolling ContactFrom Velocity to Trajectories: Inverse Kinematics of Rigid Surfaces with Rolling–Sliding ContactKinematics of In-Hand Manipulation:Kinematic Analysis of the Metahand with Fixed-Point ContactWorkspace and Posture Analysis of the MetahandRolling Contact in Kinematics of In-Hand ManipulationAppendixBibliographyIndex
Readership: Undergraduate students, graduate students, engineers, and researchers in the field of biorobotics.Rolling Contact;Sliding–Rolling Contact;Differential Geometry;Darboux-Frame;Moving-Frame Method;Adjoint Approach;In-hand Manipulation;Forward Kinematics;Inverse Kinematics00