Contents -- Preface -- Chapter 1 Robotic Grasp and Workpiece-Fixture Systems -- 1.1 Introduction -- 1.2 Robotic Manipulation and Multifingered Robotic Hands -- 1.3 AMT and Fixtures -- 1.4 Comparison between Grasping and Fixturing -- 1.5 Bibliography -- Chapter 2 Qualitative Analysis and Quantitative Evaluation of Form-Closure Grasping/Fixturing -- 2.1 Introduction -- 2.2 Qualitative Analysis -- 2.2.1 Kinematic Characteristics of Grasping/Fixturing -- 2.2.2 Discriminances of Form-Closure Grasping/Fixturing -- 2.2.3 Minimum Number of Contacts with Frictionless -- 2.3 Quantitative Evaluation -- 2.3.1 Evaluation Criteria -- 2.3.2 Numerical Example -- 2.4 Summary -- 2.5 Bibliography -- Chapter 3 Stability Index and Contact Configuration Planning of Force-Closure Grasping/Fixturing -- 3.1 Introduction -- 3.2 Description of Contacts with Friction -- 3.3 Conditions of Force Closure Grasp -- 3.4 Grasp Stability Index -- 3.4.1 Definition of the Grasp Stability Index -- 3.4.2 Some Properties of the Index -- 3.4.3 Contact Configuration Planning -- 3.5 Examples -- 3.6 Summary -- 3.7 Bibliography -- Chapter 4 Active Grasp Force Planning -- 4.1 Introduction -- 4.2 Nonlinear Programming in Grasp -- 4.3 Force Planning Using Neural Networks -- 4.4 Simulation -- 4.5 Summary -- 4.6 Bibliography -- Chapter 5 Grasp Capability Analysis -- 5.1 Introduction -- 5.2 Evaluation of Multifingered Grasp Capability -- 5.3 Numerical Example -- 5.4 Summary -- 5.5 Bibliography -- Chapter 6 Compliant Grasping with Passive Forces -- 6.1 Introduction -- 6.2 The Model of Compliant Grasping/Fixturing -- 6.3 Local Elastic Contact Model -- 6.4 Deformation Compatible Constraints for All Contacts -- 6.5 Stability of Grasping/Fixturing Systems -- 6.6 Passive Force Closure Prediction -- 6.7 Numerical Example -- 6.8 Summary -- 6.9 Bibliography.

Chapter 7 Kinematics of Contacts and Rolling Manipulation -- 7.1 Introduction -- 7.2 Kinematics of Pure Rolling Contact -- 7.3 Kinematics of Manipulation with Rolling Contact -- 7.4 Coordinating Manipulation of Multifingered Robotic Hands -- 7.4.1 Classification of Grasp Phases -- 7.4.2 Coordinating Manipulation Strategy -- 7.5 Adjustment of Fingertip Contact Forces -- 7.6 Experimental Results -- 7.7 Summary -- 7.8 Bibliography -- Chapter 8 Dynamic Stability of Grasping/Fixturing -- 8.1 Introduction -- 8.2 Dynamic Equations of Motion for a Grasped/Fixtured Object -- 8.3 Dynamic Stability Conditions and Quality Measure -- 8.4 Summary -- 8.5 Bibliography -- Chapter 9 Locating Error Analysis and Configuration Planning of Fixtures -- 9.1 Introduction -- 9.2 Error Mapping Model -- 9.2.1 Fully Constrained Localization -- 9.2.2 Over Constrained Localization -- 9.2.3 Under Constrained Localization -- 9.3 Locator and Clamp Configuration Characteristics -- 9.3.1 Locator Configuration Characteristics -- 9.3.2 Clamp Configuration Characteristics -- 9.4 Evaluation Indexes of Fixturing -- 9.4.1 Evaluation Index of Locator Configurations -- 9.4.2 Stability Index of Fixturing -- 9.4.3 Fixturing Resultant Index -- 9.5 Configuration Planning of Fixturing -- 9.5.1 Constraints -- 9.5.2 Planning Methods -- 9.6 Summary -- 9.7 Bibliography -- Chapter 10 Clamping Planning in Workpiece-Fixture Systems -- 10.1 Introduction -- 10.2 Planning of Magnitudes and Positions of Clamping Forces -- 10.2.1 Objective Function -- 10.2.2 Kinematic Conditions -- 10.2.3 Solution of Optimal Clamping Forces -- 10.3 Verification of Force Constraints -- 10.4 Numerical Example -- 10.5 Summary -- 10.6 Bibliography -- Index.