Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 5 pptx
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...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 1 pdf
... 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...
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 ... 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...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 3 pot
... 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...
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 ...
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...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 6 doc
... - 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
" "...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 7 doc
...
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,...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) part 9 pot
...
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...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) part 10 pot
...
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
: ./...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) part 11 potx
... 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...
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