TEZ5756 ; Tez (Doktora) -- Çukurova Üniversitesi, Adana, 2006. ; Kaynakça (s. 152-159) var. ; xii, 172 s. : res. ; 29 cm. ; Robot El'in maharetli tutuş işlemi konusunda devam eden çalışmalarda, çözüm bekleyen temel problemlerden birisi de tutulacak nesneye ve uygulanacak göreve uygun bir El ön biçimlenmesinin tespitidir. Bu çalışmamızda, insan eli benzeri Robot El'in hassas tutuş eylemleri için, el ön biçimlenmesinden başlayarak, nesnelerin geometrik özelliklerinin, tutuş görevinin ve tutuş noktalarının kinematik analizlerinin, öğrenme yetenekli yaklaşık karar verme sistemi ile sentezlenmesi sonucunda , ""Akıllı Denetim Sistemi"" tasarlanmıştır. Bu sistem, 3B sanal ortamda, bir Robot El simulasyonu ile de test edilip, başarısı değerlendirilmiştir. ; In a dextrous manipulation, one of the major problems that remains to be solved is the determination of an appropriate preshape for grasping a given object, under a manipulation task. In order to have a successful grasp execution, the system should have a successful grasp preparation at the preshaping phase. Grasp Performance Measure analyses are 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 precision grasping beginning from hand preshaping , synthesizing from object properties, manipulation task characteristics, kinematic analysis and evaluation of contact wrench patterns via approximate reasoning with learning abilities , which is finally demonstrated in an antropomorphic robot hand simulation.


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    Titel :

    Preshaping control for dexterous manipulation with a multifingered robot hand



    Erscheinungsdatum :

    01.01.2006


    Medientyp :

    Hochschulschrift


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    004 / 629




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