Please use this identifier to cite or link to this item:
|Title||Optimal Force Distribution in Multi-finger Dexterous Hands for Robotic Systems with Uncertainty|
Robotics is the field of technology that deals with the design, construction, operation, structural disposition, manufacture. The main advantage of robots and computer systems are their control, sensory feedback, and information processing. These technologies deal with automated machines that can take the place of humans in dangerous or manufacturing processes. During the last two decades several techniques are used to design and control the movement of the robotics hand grasping . Dexterous manipulation by multi-fingered robot hands is one of the challenging and complicated problems in robotics. In the early research on hand robots, the multi-joint-fingered models which are similar to the human hand in appearance were primarily presented. By increasing the interest in the dexterous manipulation, the researches on the various sensors and control methods have been required. Many of the proposed method used to control the robotics hand grasping without measuring the forces and the torques of the fingers and without determining the optimal position of the body . The proposed method in this thesis uses the linear programming (LP) and Semidefinite programming (SDP) methods to measure the optimal force for robotic grasping hand for four fingers. In addition, we proposed a new method to based on uncertainty theorem; moreover, our method is used to measure the upper and lower forces then, choose the optimal one using the software package MATLAB. To demonstrate the effectiveness of the presented techniques several optimization examples are solved.
|Publisher||the islamic university|
|Files in this item|