Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 4 potx
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,agl~...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) part 11 potx
... Time-
Optimal Control. In Proceedings 1992 IEEE International Confer-
ence on Robotics and Automation, pages 261 2-2 617, Nice, France,
1992.
150
[43 ]
[44 ]
[45 ]
[46 ]
[47 ]
[48 ]
[49 ]
[5o] ... N0001 4- 0 6-C-0320, and by NASA contract NAG- 9-7 40 .
References
[1] S. Akella and M.T. Mason. Parts Orienting by Push-Aligning. In
Proceedings of the 1995 IEEE Interna...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) part 13 potx
... in Systems and Control
144
pp. 1996 [ 3-5 4 0-7 603 9-3 ]
Vol. 2 14: Yin, G.; Zhang, Q. (Eds)
Recent Advances in Control and
Optimization of Manufacturing Systems
240 pp. 1996 [ 3-5 4 0-7 605 5-5 ] ... Uncertainty in Control
Systems
41 2 pp. 1993 [ 3-5 4 0-1 987 0-9 ]
Vol. 193: Zinober, A.S.I. (Ed.)
Variable Structure and Lyapunov Control
42 8 pp....
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 1 pdf
... 21, 1-8 0125 Napoli, Italy
ISBN 3-5 4 0-7 626 5-5 Springer-Verlag Berlin Heidelberg New York
British Library Cataloguing in Publication Data
Complex robotic systems. - (Lecture notes in control and ... and
information sciences ; 233)
1.Robotics
I .Chiacchio, Pasquale II .Chiaverini, Stefano
629.8'92
ISBN 3 540 762655
Library of Congress Cataloging-in-Public...
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 ... external
1.5. Load sharing
11
0~
Zcl_ "'" l Zc," O~l ~ ,
hr~~~+ ~r s~m~ V
Ec
4 l" I_ ,
L
-I h~ 4- ~ j- ~c
Figure 1 .4: A hybrid position/force con...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 3 pot
... Int. Conf. on Robotics
and Automation, Albuquerque, USA, April 1997, pp. 344 9-3 45 4.
[41 ]
M. Uchiyama, A. Konno, T. Uchiyama, and S. Kanda, "Devel-
opment of a Flexible Dual-Arm Manipulator ...
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 1-3 83, 1...
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 ...
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: Case 2....
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 .41 42 ~ ,/ ,," - ~ . " - 1~ ,41 42
/ ";' ,, . )(
0.7321 i ;; " " ;-, ,, "" ... p~ - p~. (3.3)
76__ Chapter 2. Kinematic manipulability of general mechanical systems
1.5
1
0.5
0
-0 .5
-1
Two
Ellipsoids Differing In Shape end
Scale...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 7 doc
... closed-loop inverse kinematic scheme for on-line
joint-based robot control," Robotica, 8, 23 1-2 43 , 1990.
P. Chiacchio, S. Chiaverini, L. Sciavicco, and B. Siciliano, "Closed-
loop ... Kreutz, "Motion and force control of multiple
robotic manipulators," Automatica, 28, 72 9-7 43 , 1992.
[18] P. Chiacchio and S. Chiaverini, "PD-type control schemes f...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) part 9 pot
... eq. (4. 48) can be obtained by 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 ... Automation Congress (WAC' 94) , Maul,
HI, August 1 4- 1 7, 19 94) vol. 2, pp. 43 9 -4 44 , TSI Press Series, 19 94.
[16] F. Caccavale and J. Szewczyk, "Experimental...
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