Preshaping control for dexterous manipulation with a multifingered robot hand
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Abstract (EN)
ABSTRACTPh.D THESISPRESHAPING CONTROL FOR DEXTEROUS MANIPULATIONWITH A MULTIFINGERED ROBOT HANDCabbar Veysel BAYSALUNIVERSITY OF ÇUKUROVAINSTITUTE OF NATURAL AND APPLIED SCIENCESDEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERINGSupervisor: Prof. Dr. Süleyman GÜNGÖRCo-Supervisor: Prof. Dr. Aydan ERKMENYear:2006, Pages: 162Jury : Prof. Dr. Süleyman GÜNGÖRAssoc. Prof. Dr. Mehmet TÜMAYAssist. Prof. Dr. Hüseyin CANBOLATAssist. Prof. Dr. Ulus ÇEVİKAssist. Prof. Dr. Turgay İBRİKÇİIn a dextrous manipulation, one of the major problems that remains to be solved isthe determination of an appropriate preshape for grasping a given object, under amanipulation task. In order to have a successful grasp execution, the system should have asuccessful grasp preparation at the preshaping phase. Grasp Performance Measure analysesare important for grasping with a robot hand as well as for the preshape.In our work, we design and implement an ?Intelligent Control System? for precisiongrasping beginning from hand preshaping , synthesizing from object properties,manipulation task characteristics, kinematic analysis and evaluation of contact wrenchpatterns via approximate reasoning with learning abilities , which is finally demonstrated inan antropomorphic robot hand simulation.Keywords: Dextrous Manipulation, Robot Hand, Grasp Synthesis,Grasp Preshaping,Preshaping Controller.I
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Cabbar Veysel Baysal
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Cabbar Veysel Baysal (Doctorate thesis). Preshaping control for dexterous manipulation with a multifingered robot hand, 2006, Çukurova University.
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