by Kwok Lai Ho Victor. / Thesis (M.Phil.)--Chinese University of Hong Kong, 1998. / Includes bibliographical references (leaves 77-82). / Abstract also in Chinese. / Chapter 1 --- Introduction --- p.1 / Chapter 2 --- Background --- p.5 / Chapter 2.1 --- History of Robotics --- p.5 / Chapter 2.2 --- Autonomous Robot Systems --- p.7 / Chapter 2.3 --- 3D Windowing Simulators --- p.8 / Chapter 2.4 --- Robot Simulation in VR --- p.8 / Chapter 3 --- Objective --- p.11 / Chapter 4 --- Articulated Structures --- p.13 / Chapter 4.1 --- Joints and links --- p.13 / Chapter 4.2 --- Degrees of Freedom --- p.16 / Chapter 4.3 --- Denavit-Hartenberg Notation --- p.17 / Chapter 5 --- Virtual Manipulators --- p.20 / Chapter 5.1 --- Arm(N-link) Structure --- p.20 / Chapter 5.2 --- Hand Model --- p.24 / Chapter 6 --- Motion Control Techniques --- p.27 / Chapter 6.1 --- Kinematics --- p.27 / Chapter 6.1.1 --- Forward Kinematics --- p.27 / Chapter 6.1.2 --- Inverse Kinematics --- p.29 / Chapter 6.1.3 --- Solving Kinematics Problem --- p.29 / Chapter 6.1.4 --- Redundancy --- p.31 / Chapter 6.1.5 --- Singularities --- p.32 / Chapter 6.2 --- Dynamics --- p.33 / Chapter 6.2.1 --- Forward Dynamics --- p.34 / Chapter 6.2.2 --- Inverse Dynamics --- p.35 / Chapter 6.3 --- Combination of Two Control Modes --- p.35 / Chapter 6.4 --- Constraints and Optimization --- p.36 / Chapter 7 --- Physical Feedback Systems --- p.38 / Chapter 7.1 --- Touch Feedback --- p.39 / Chapter 7.2 --- Force Feedback --- p.41 / Chapter 7.3 --- Force/Touch Feedback Systems --- p.42 / Chapter 8 --- Virtual Object Manipulation --- p.43 / Chapter 8.1 --- Previous Work --- p.44 / Chapter 8.2 --- Physics-based Virtual-hand Grasping --- p.45 / Chapter 8.3 --- Visual Correction --- p.43 / Chapter 8.3.1 --- Joint Correction --- p.50 / Chapter 8.3.2 --- Odd Finger Configurations --- p.51 / Chapter 8.4 --- Active Grasping --- p.52 / Chapter 8.5 --- Collision Detection of Complex Objects --- p.54 / Chapter 9 --- Experiments --- p.57 / Chapter 9.1 --- System Architecture --- p.57 / Chapter 9.1.1 --- Tracking System --- p.53 / Chapter 9.1.2 --- Glove System --- p.59 / Chapter 9.1.3 --- Host Computer --- p.60 / Chapter 9.2 --- Experimental Results --- p.60 / Chapter 9.2.1 --- General application --- p.61 / Chapter 9.2.2 --- Relationship between frictional coefficient and mass of the object --- p.61 / Chapter 10 --- Conclusions --- p.67 / Chapter 10.1 --- Summary --- p.67 / Chapter 10.2 --- Contributions --- p.69 / Chapter 10.3 --- Future Work --- p.69 / Chapter A --- Description files --- p.71 / Chapter A.1 --- Scene Description --- p.71 / Chapter A.2 --- Hand Description --- p.73 / Bibliography --- p.77
| Identifer | oai:union.ndltd.org:cuhk.edu.hk/oai:cuhk-dr:cuhk_322230 |
| Date | January 1998 |
| Contributors | Kwok, Lai Ho Victor., Chinese University of Hong Kong Graduate School. Division of Computer Science and Engineering. |
| Source Sets | The Chinese University of Hong Kong |
| Language | English, Chinese |
| Detected Language | English |
| Type | Text, bibliography |
| Format | print, ix, 82 leaves : ill. (some col.) ; 30 cm. |
| Rights | Use of this resource is governed by the terms and conditions of the Creative Commons “Attribution-NonCommercial-NoDerivatives 4.0 International” License (http://creativecommons.org/licenses/by-nc-nd/4.0/) |
Page generated in 0.0141 seconds