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Keywords: dexterous manipulators
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Journal Articles

Modeling and Control of a New Robotic Deburring System

Changhoon Kim, Jae H. Chung
Journal: Journal of Manufacturing Science and Engineering
Publisher: ASME
Article Type: Technical Briefs
J. Manuf. Sci. Eng. October 2007, 129(5): 965–972.
https://doi.org/10.1115/1.2738514
Published Online: February 23, 2007
... significantly improves the accuracy of the deburring operation. deburring industrial manipulators compliance control pneumatic actuators cutting cutting tools dexterous manipulators decentralised control control system synthesis feedback robust control linearisation techniques friction...
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Topics: Deburring, Feedback, Robotics, Robots, Manipulators, Control equipment, Pneumatic cylinders
Journal Articles

An Enhanced Ray-Shooting Approach to Force-Closure Problems

Yu Zheng, Wen-Han Qian
Journal: Journal of Manufacturing Science and Engineering
Publisher: ASME
Article Type: Technical Papers
J. Manuf. Sci. Eng. November 2006, 128(4): 960–968.
https://doi.org/10.1115/1.2336259
Published Online: June 24, 2006
... , m f , and m s are numbers of frictionless point contacts, frictional point contacts, and soft finger contacts, respectively. force-closure grasp planning multifingered robot hand ray-shooting approach fixtures industrial manipulators dexterous manipulators materials...
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Topics: Algorithms, Dimensions, Hull, Stability, Theorems (Mathematics), Grasping, Errors, Friction
Journal Articles

A Dexterous Part-Holding Model for Handling Compliant Sheet Metal Parts

H. F. Li, D. Ceglarek, Jianjun Shi
Journal: Journal of Manufacturing Science and Engineering
Publisher: ASME
Article Type: Technical Papers
J. Manuf. Sci. Eng. February 2002, 124(1): 109–118.
https://doi.org/10.1115/1.1406953
Published Online: March 1, 2001
... June 2000 01 March 2001 materials handling elastic deformation dexterous manipulators Compliant sheet metal parts are widely used in automotive, aerospace, aircraft, appliance, and furniture industries. Material handling of compliant parts poses much greater challenge than...
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Topics: Deformation, End effectors, Sheet metal, Simulation, Materials handling, Parameter estimation, Design, Finite element analysis, Springs, Vacuum