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Precision Grasp Planning For Integrated Arm-Hand Systems, Shuwei Qiu

Electronic Thesis and Dissertation Repository

The demographic shift has caused labor shortages across the world, and it seems inevitable to rely on robots more than ever to fill the widening gap in the workforce. The robotic replacement of human workers necessitates the ability of autonomous grasping as the most natural but rather a vital part of almost all activities. Among different types of grasping, fingertip grasping attracts much attention because of its superior performance for dexterous manipulation. This thesis contributes to autonomous fingertip grasping in four areas including hand-eye calibration, grasp quality evaluation, inverse kinematics (IK) solution of robotic arm-hand systems, and simultaneous achievement of …