Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 3 pot
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 3 pot
... 98 6-9 91.
30
[2s]
[29]
[30 ]
[31 ]
[32 ]
[33 ]
[34 ]
[35 ]
[36 ]
Chapter 1. Multi-arm
robot
systems: A survey
M. Uchiyama and Y. Kanamori, "Quadratic Programming for
Dextrous Dual-Arm ...
and Non-Master/Slave Coordinated Control of Two-Arm Robots,"
Advanced Robotics: The International .Journal of the Robotics So-
ciety of Japan, vol. 7, no. 4, pp. 36 1 -...
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 ... orienta-
tion and therefore needs to be separately stated:
A(c)VT = J(C)d + H(c)Tw (2 .33 )
(c) T
r,(c) T
,,' ~-( c)T'~
where j(c) = diag{&C),j~c),j~e)}, n(c) T = o,...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) part 9 pot
... inverting the coef-
ficient 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~(~} ... Dauchez, "Symmetric kinematic formulation
and non-master slave coordinated control of two-arm robots", Ad-
vanced Robotics, vol. 7, no. 4, pp. 36 1 -3 83,...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) part 10 pot
... literature
[22, 72,
93, 97, 119, 127, 128, 132 , 1 43] . and modeling of the situation is
fairly well understood [28, 46, 65, 67, 71, 131 , 133 , 135 ].
However, for the case of multi-fingered manipulation, ... evolve according to the following
equations
6S -& quot ;- M-II(ICf + ~°)-I ( [ -wY ] -f~° [ vx ] vy
(5.5)
¢ = + :rsMsus + ToMoUo (5,7)
= o (5.8)
In particular, if the...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) part 11 potx
... Con-
ference on Robotics and Automation, pages 32 2 8 -3 233 , Minneapolis,
MN, 1996.
T.H. Speeter. Control of the UTAH/MIT Dextrous Hand: Hard-
ware and Software Hierarchy. Journal of Robotic Systems, ... Automation, pages 33 8 3- 3 38 8,
San Diego, CA, 1994.
[84] B. Mirtich and J. Canny. Easily Computable Optimum Grasps in
2-D and 3- D. In Proceedings 1994 IEEE International...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) part 13 potx
... 1994 [ 3- 5 4 0-1 989 6-2 ]
Vol. 200: Yoshikawa, T.; Miyazaki, F.
(Eds)
Exp dmental Robotics Iih The 3rd
International Symposium, Kyoto, Japan,
October 2 8 -3 0, 19 93
624 pp. 1994 [ 3- 5 4 9-1 990 5-5 ]
Vol. ... pp. 19 93 [ 3- 5 4 0-1 9 83 4-2 ]
Vol. 188: Naidu, D. Subbaram
Aeroassisted Orbital Transfer: Guidance
and Control Strategies
192 pp. 19 93 [ 3- 5...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 1 pdf
... 132
5.2.1 Contact conditions and the release of constraints . . 133
5 .3 Ongoing research issues 134
5 .3. 1 Grasp synthesis 134
5 .3. 2 Grasp stability 135
5 .3. 3 The importance of friction 136 ... brace contact type 63
2.6 Comparison of manipulability ellipsoids 66
2.7 Conclusions 73
References 76
Kinematic
control of dual-arm systems
3. 1
3. 2
3. 3
3. 4
3. 5
3. 6
3....
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
Ref ... inverse, we obtain:
where
), = w-lo + vf' (1 .35 )
IT
W- = [ K T (I 6- K) T
(1 .36 )
The matrix K is the load-sharing matrix. We can prove easily that the
non-diagonal el...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 5 pptx
... mechanical systems
theta = [210 -3 10.6 -1 0.78]
f il .
/
/
/ /
/ /"
i' J'"
theta = [215 -3 37 .6 29.42]
f , • \
/
/ ///
/ t /
theta = [ 230 -3 69.6 49.02]
theta == [245 -3 42.8 ... ellipsoid.
theta = [150 -1 80 -6 0]
/
2
h/
S
?
2
g
/
theta = [24 0 -3 30 15~
.:'
\
[
÷.,i
\/
theta = [30 0 -3 90 210]
f,
t' &...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 6 doc
...
mechanical systems
2
1.5
1
0.5
0
-0 .5
-1
-1 .5
-2
Shape Discrepancy Metric for Two Dimensional Ellipsoids
'1
" "
0.6667 \
"
/ x
,' "
0 .33 33
". ...
73
t.5
-0 .5
-1
-1 .5
Rotational Metric for Two Dimensional Ellipsoids
w
2.0000
1.4142 ~ ,/ ,," - ~ . " - 1~,4142
/ ";' ,, . )(
0. 7...
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