Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 5 pptx

... 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 ellipsoid for 6-DOF Stewart platforms: ... of adding a brace on the load-bearing ability of a planar arm. 2.4. Illustrative examples 53 0~ 0 -o.S -1 -, .S -1 .S -I I • I -0 .5 0 0 .5 1 1 .5...

Ngày tải lên: 10/08/2014, 01:22

... 21, 1-8 01 25 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 354 0762 655 Library of Congress Cataloging-in-Public...

Ngày tải lên: 10/08/2014, 01:22

... 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 ... Multi-arm robot systems: A survey 50 0 ¢~ -5 0 -1 00 -1 50 0 2 4 6 Time [s] Figure 1.10: Experimental results: ~Fry. 1.7 Advanced topics 1.7.1 Multi-flexible-arm robot...

Ngày tải lên: 10/08/2014, 01:22

... Arms," IEEE Trans. on Aerospace and Electronic Systems, vol. 24, no. 5, pp. 57 1 -5 83, 1988. [10] S. Hayati, "Hybrid Position/Force Control of Multi-Arm Cooper- ating Robots," ... 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 ¢. .o 0 e- ._ -1 0 Cur...

Ngày tải lên: 10/08/2014, 01:22

... 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 ... singular 50 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...

Ngày tải lên: 10/08/2014, 01:22

... - 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 -1 5 -0 : ' - -1 .5 -1 -0 .5 5 ... mechanical systems 2 1 .5 1 0 .5 0 -0 .5 -1 -1 .5 -2 Shape Discrepancy Metric for Two Dimensional Ellipsoids '1 " "...

Ngày tải lên: 10/08/2014, 01:22

... 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. Chiacchio, S. Chiaverini, ... kinematic formulation and non-master/slave coordinated control of two-arm robots," Ad- vanced Robotics, 7, 36 1-3 83, 1993. P. Chiacchio, S. Chiaverini, and B. Siciliano,...

Ngày tải lên: 10/08/2014, 01:22

... 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 e in eq. (4 .50 ) is based ... Manipulators," J. Robotic Systems, vol. 6, no. 1, pp. 3 5- 4 7, January 1989. [21] F. Pfeiffer, "Cooperating Fingers - A Special Form of Cooperat...

Ngày tải lên: 10/08/2014, 01:22

... equations 6S -& quot ;- M-II(ICf + ~°)-I ( [ -wY ] -f~° [ vx ] vy (5. 5) ¢ = + :rsMsus + ToMoUo (5, 7) = o (5. 8) In particular, if the bodies maintain rolling contact with each other, this 5. 4. Fbrther ... (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 : ./...

Ngày tải lên: 10/08/2014, 01:22

... supported in part by the National Science Foundation under grants CMS- 953 2081 and IRI- 952 6363, by the Office of Naval Research under contract N0001 4-0 6-C-0320, and by NASA contract NAG- 9-7 40. References ... Decomposition. International Journal of Robotics Research, 14(1):3 7-7 5, 19 95. 158 [1241 [1 25] [126] [127] [128] [129] [13o] [131] [132] [133] Chapter...

Ngày tải lên: 10/08/2014, 01:22