Intelligent re-location based manipulation of objects using robot hands. II. Process modelling and implementation issues

For pt.I see ibid., p.203-8 (1991). Implementation issues in the context of intelligent dexterous manipulations of objects using robot hands are discussed. A brief overview of manipulation process modeling and an algorithmic procedure for the determination of finger manipulations for a given desired displacement of the object are provided. For purposes of implementation of this model, it is necessary to use, strategically, information at multiple levels of abstraction. The authors highlight this issue and discuss the integrated use of qualitative and quantitative knowledge of the robot grasping situation in order to perform model-based dexterous manipulation. Six relevant issues to be considered in the implementation of dexterous manipulation have been identified, and solutions are suggested, using either qualitative or traditional quantitative analysis methods according to the suitability of either method to the context of the problem