Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 2 pps

... topics 21 20 I '""I'll - 1"¸'~' Z 10 e 0 Ref Cur -1 0 r , , , _~x 0 1 2 Time Is] Figure 1.14: Experimental results: "Fry. Z 10 0 -1 0 0 ... (al + a2) (1 .25 ) 1 :co = ~ (:ci + :c2) (1 .26 ) A:C~. = :cl x2 (1 .27 ) A~r = £ (n2 x nl + 02 x ol + a2 x al). (1 .28 ) 2 16 Chapter 1. Multi-arm robot systems: A survey 500...

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... n~ < 0 JL, I 2 - ,:lf~,l 2 < 0 d = dtletl -k dt2et2 f,~r = -k~/l~ with kr >_ 0 ftl~ = krdtl ft2,. = krdt2 • Grasping with Regrasping Optimization Criterion G = ~ ~ (ifi[ 2- [fjl:) ... E,n_-i r, (fn, + ft,) - Me = 0 f~ " ni < 0 tf~, l 2 - #21 f~, 12 < 0 IEL~,~,I _< s I~'i Tjl £min ~ 0 i ¢ j • Grasping with Controlled S...

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... vii Chapter 1. Multi-arm robot systems: A survey J //~/ F~,/~ F,, Fh2 ~1 Zh2 hl ~ " ;- Xa ~'a "ra "~ ~ Yh2 T'hl ~ ~/ // T~h2 Nh I r ff N,, Nh 2 Figure 1.1: Two ... Multi-flexible-arm robots 18 1.7 .2 Slip detection and robust holding 22 1.8 Conclusions 26 References 27 Kinematic manipulability of general mechanical systems 33 2. 1 Introduc...

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... 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 ¢. .o 0 e- ._ -1 0 Cur Ref -2 O I i 0 1 2 3 TAme ... 72 9-7 43, 19 92. 26 Chapter 1. Multi-arm robot systems: A survey 0.06 0.05 0.04 E 0.03 t- O. < 0. 02 0.01 Alpha_l Alpha _2 Alpha_3 Alpha_4 :/:!:::...

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... JO = AVT (2. 9) where J = 0 I I 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 ... Chapter 2. Kinematic manipulability of general 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...

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... is: J2= [-0 025 ] (2. 40) 62 Chapter 2. Kinematic manipulability of general mechanical systems 0 -2 0.75 Units Away 2 /i t\ t: 0 -2 0.3 Units Away :i 2 / 'i / t t/ \/ 2~ 0t ... accomplished. 2. 5. Effects of arm posture and bracing on manipulability 55 2 1.5 1 0.5 N 0 -0 .5 -1 -1 .5. -2 : 2 0 0 I y -2 -2 X Figure 2. 12: 3D...

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... l (2. 58) 2. 7. Conclusions 73 t.5 -0 .5 -1 -1 .5 Rotational Metric for Two Dimensional Ellipsoids w 2. 0000 1.41 42 ~ ,/ ,," - ~ . " - 1~,41 42 / ";' ,, . )( 0.7 321 ... " / x ,' " 0.3333 ". II / 0 \ \~ 0.33 32 t\ x / ii \XXXx / i / \ / x / o i i J 2 1:5 1 0',5 0 0',5 1 1',5 2 Figure...

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... Kreutz, "Motion and force control of multiple robotic manipulators," Automatica, 28 , 72 9-7 43, 19 92. [18] P. Chiacchio and S. Chiaverini, "PD-type control schemes for co- operative ... ulators, McGraw-Hill, New York, 1996. B. Siciliano, "A closed-loop inverse kinematic scheme for on-line joint-based robot control," Robotica, 8, 23 1 -2 43, 1990. P....

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... 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 ... of two-arm robots", Ad- vanced Robotics, vol. 7, no. 4, pp. 36 1-3 83, 1993. [9] P. Chiacchio and S. Chiaverini, "PD-Type Control Schemes For Co- operativ...

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... with a 'thumb' opposing two or more 'fingers'. Some hands are tendon-driven [2, 13, 55, 81, 82] , and some powered by actuators in the hand unit itself [36, 77, 120 ]. Electric ... literature [22 , 72, 93, 97, 119, 127 , 128 , 1 32, 143]. and modeling of the situation is fairly well understood [28 , 46, 65, 67, 71, 131, 133, 135]. However, for the case of multi-fing...

Ngày tải lên: 10/08/2014, 01:22