Optimal Three Finger Grasps
Optimal Three Finger Grasps
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In our eReader you can find the full English version of the book. Read Optimal Three Finger Grasps Online - link to read the book on full screen. Our eReader also allows you to upload and read Pdf, Txt, ePub and fb2 books. In the Mini eReder on the page below you can quickly view all pages of the book - Read Book Optimal Three Finger Grasps
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1 If the F^'s are nonzero equilibrium finger forces (i. E. Corresponding to / = and T = in (3)) and two of them are parallel then all three are parallel. We will return to the case of parallel forces later. Now, we look at the problem of finding e from the point of view of finding p which minimizes ^max = majc, |^j(p)|, where 6i{p) is the angle that p — Pi (and hence Fi) makes with the normal n, to the object. To be more precise, 0, (p) is the smaller angle between n, and the line through p and... p, . Notice that I tan(^max)| is the smallest coefficient of friction necessary to achieve the given grasp. The problem is one of minimizing the function max |^i(p)| of two variables (the coordi- nates of p) over a region of the plane. However, because of geometric considerations which will be explained in Section 4 the search for a minimum can be restricted to a finite set, thus yielding a finite algorithm to find the optimal p. The several points p where the minimum might occur will be listed in Theorem 4.
What to read after Optimal Three Finger Grasps?
You can find similar books in the "Read Also" column, or choose other free books by James Demmel to read onlineMoreLess
To quickly assess the difficulty of the text, read a short excerpt:
1 If the F^'s are nonzero equilibrium finger forces (i. E. Corresponding to / = and T = in (3)) and two of them are parallel then all three are parallel. We will return to the case of parallel forces later. Now, we look at the problem of finding e from the point of view of finding p which minimizes ^max = majc, |^j(p)|, where 6i{p) is the angle that p — Pi (and hence Fi) makes with the normal n, to the object. To be more precise, 0, (p) is the smaller angle between n, and the line through p and... p, . Notice that I tan(^max)| is the smallest coefficient of friction necessary to achieve the given grasp. The problem is one of minimizing the function max |^i(p)| of two variables (the coordi- nates of p) over a region of the plane. However, because of geometric considerations which will be explained in Section 4 the search for a minimum can be restricted to a finite set, thus yielding a finite algorithm to find the optimal p. The several points p where the minimum might occur will be listed in Theorem 4.
What to read after Optimal Three Finger Grasps?
You can find similar books in the "Read Also" column, or choose other free books by James Demmel to read onlineMoreLess
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