Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 1 pdf
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 1 pdf
...
J(q)M(q)-ljT(q).~ = J(q)
[M(q) -1 {G(q, q) - T}] - .I(q)q.
(1. 10)
Therefore,
A = { J(q)M(q)-ljT(q) } -1
{j(q)[M(q)_ 1 {G(q,// )- "r}] - J(q)//}.
(1. 11)
From Equations (1. 9) and (1. 11) , we obtain q and ... control 10
1. 5 Load sharing 11
1. 6 Practical implementation 13
1. 7 Advanced topics 18
1. 7 .1 Multi-flexible-arm robots 18
1. 7.2 Slip d...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 2 pps
...
respectively.
1. 7. Advanced topics
21
20
I '""I'll - 1& quot;¸'~'
Z 10
e 0
Ref
Cur
-1 0 r , , , _~x
0 1 2
Time Is]
Figure 1. 14: Experimental results: "Fry. ...
Chapter 1. Multi-arm robot
systems: A survey
10 0
'g 50
~ -5 0
-1 00
0
~
- Ref
t I I I t ~ I I t L L I I I
1 2
Time [s]
Figure 1. 12: Experi...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 3 pot
... Congress (WAC '9~),
Maui, USA, August 19 94, vol. 2, pp. 11 1- 1 16 .
H.
Inoue, "Computer Controlled Bilateral Manipulator,"
Bul.
JSME,
vol. 14 , no. 69, pp. 19 9-2 07, t9 71.
M. Uchiyama, ... 1. 7. Advanced
topics
25
K
> ;-
.o
o0
0
0.05
-0 .05
Cur
Ref
i
0 1 2 3
Time [s]
Figure 1. 19: Experimental results: Position along y.
20
10
¢....
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 4 potx
...
el -die1 × 0
"o. "
0
e6
I
-d6e6
x
and A =
I
0
[AI]
A6
(2 .10 )
2.4. Illustrative examples
51
3. 51
3
2.5
2
1. 5
1
0. 51
-1 5 q
Two Arms Holding a Common Object - 3 ... mechanical systems
Two Arms Holding
a Common Object - 2 DOF Task
Space
3.5 , ,
3
2.5
2
1. 5
1
0,5
0
-0 .5
-t
-1 ,5
D
I s~
Figure 2.7: Two arms holding a r...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 5 pptx
...
mechanical systems
0 -0 .5 0 -0 .17 68 ] (2.49)
C~ = ~T & = 1. 70 71 1.20 71 0.70 71 0 .17 6S
a-w~ [ I °]= o I
And finally, we obtain the result:
(2.50)
C1~2 ~-~ _1/ 2
:
[-0 .13 050 .13 0 5-0 .18 3 610 .18 36 ...
genera/mechanical
systems
2
1
0,8
N 0
-0 .5
-1
-1 .5
0 0
y -2 -2
X
Figure 2 .13 : 3D ellipsoid for 6-DOF Stewart platforms:...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 6 doc
...
t.5
-0 .5
-1
-1 .5
Rotational Metric for Two Dimensional Ellipsoids
w
2.0000
1. 414 2 ~ ,/ ,," - ~ . " - 1~ , 414 2
/ ";' ,, . )(
0.73 21 i ;; " " ;-, ,, "" ...
mechanical systems
2
1. 5
1
0.5
0
-0 .5
-1
-1 .5
-2
Shape Discrepancy Metric for Two Dimensional Ellipsoids
&apos ;1
" "
0.6667 \...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 7 doc
... Design, 11 0, 13 8 -1 44, 19 88.
[17 ] J.T. Wen and K. Kreutz, "Motion and force control of multiple
robotic manipulators," Automatica, 28, 72 9-7 43, 19 92.
[18 ] P. Chiacchio and S. Chiaverini, ... Siciliano, "A closed-loop inverse kinematic scheme for on-line
joint-based robot control," Robotica, 8, 23 1- 2 43, 19 90.
P. Chiacchio, S. Chiaverini, L...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) part 9 pot
... matrix of [~T,
ET] T
using inverse by partitioning [37]:
= D-1A (V C - Hm~l - H,,) -D-1AT(AD-1AT)-IA~I
(4.49)
~. : (An -1 AT) -1 {An -1 (T C - Urea - Hv) + ff~(~}
(4.50)
The solution for ...
Automation Congress (WAC'94), Maui, HI, August 1 4 -1 7, 19 94)
vol. 2, pp. 11 1- 1 16 , TSI Press Series, 19 94.
REFERENCES 12 5
Manufacturing (ISRAM'9...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) part 10 pot
... literature
[22, 72,
93, 97, 11 9, 12 7, 12 8, 13 2, 14 3]. and modeling of the situation is
fairly well understood [28, 46, 65, 67, 71, 13 1, 13 3, 13 5].
However, for the case of multi-fingered manipulation, ... (5 .10 )
Substituting conditions (5.9) and (5 .10 ) in the kinematic contact equa-
tions (5. 5-7 ), we obtain the first order equations for pure rolling contact
as...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) part 11 potx
...
Proceedings 19 95 IEEE International Conference on Robotics and
Automation,
pages 16 8 0 -1 686, Nagoya, Japan, 19 95.
REFERENCES 15 7
[11 3]
[11 4]
[11 5]
[11 6]
[11 71
[11 8]
[11 9]
[12 o]
[12 1]
[12 2l ... Decomposition.
International Journal of Robotics Research,
14 (1) :3 7-7 5, 19 95.
15 8
[12 41
[12 5]
[12 6]
[12 7]
[12 8]
[12 9]
[13 o...
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