A number of problems in manipulator analysis and control call for the second derivative of the joint- to workspace kinematic mapping of serial or branched manipulators. A derivation of all derivatives of the kinematic...
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Grasp planning is formulated as a unified problem, fusing the previously decoupled subproblems of locating and matching contacts on the hand and on the payload. To achieve this, the problem is formulated in the CX-spa...
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Grasp planning is formulated as a unified problem, fusing the previously decoupled subproblems of locating and matching contacts on the hand and on the payload. To achieve this, the problem is formulated in the CX-space which is denoted as the Cartesian product of the hand's configuration space (Cspace), and a space of relative poses between the hand and the payload (X-space). This approach alleviates some difficulties which are unresolved when a search is performed in the hand's C-space alone. A number of kinematic aspects of grasping are addressed by associating them with sets in the CX-space. Solving for a desired grasp then requires identifying a CX-space configuration which lies in the intersection of these sets. Rather than recommending a search technique, this paper presents the framework for this novel formulation. As a demonstration, portions of the CX-space associated with a simulated Utah-MIT hand and a spherical payload are examined
A number of problems in manipulator analysis and control call for the second derivative of the joint-to workspace kinematic mapping of serial or branched manipulators. A derivation of all derivatives of the kinematic ...
详细信息
A number of problems in manipulator analysis and control call for the second derivative of the joint-to workspace kinematic mapping of serial or branched manipulators. A derivation of all derivatives of the kinematic mapping is presented, including the second derivative namely the Hessian tensor. A fast formulation for its computation is derived which is based on components of the Jacobian matrix. The resulting formulae are verified symbolically with differentiation, and showcased numerically in Taylor series approximations and in a singularity escapability analysis for the example of the International Space Station's Canadarm2, a.k.a. the Space Station Remote Manipulator System (SSRMS).
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