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 .66 67 \ " / x ,' " 0.3333 ". ... t.5 -0 .5 -1 -1 .5 Rotational Metric for Two Dimensional Ellipsoids w 2.0000 1.4142 ~ ,/ ,," - ~ . " - 1~,4142 / ";' ,, . )( 0.7321 i ;;...

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... of two-arm robots," Ad- vanced Robotics, 7, 36 1-3 83, 1993. P. Chiacchio, S. Chiaverini, and B. Siciliano, "Direct and inverse kinematics for coordinated motion tasks of a two-manipulator ... McGraw-Hill, New York, 19 96. B. Siciliano, "A closed-loop inverse kinematic scheme for on-line joint-based robot control," Robotica, 8, 23 1-2 43, 1990. P. Chiacchio,...

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... 144 5 .6 Conclusions 145 References 145 Grasping optimization and control 161 6. 1 Introduction 161 6. 2 Grasp strategies 163 6, 3 The TUM-hydraulic hand 168 6. 3.1 The design 168 6. 3.2 Measurement ... and information sciences ; 233) 1.Robotics I .Chiacchio, Pasquale II .Chiaverini, Stefano 62 9.8'92 ISBN 3540 762 655 Library of Congress Cataloging-in-Publication Data...

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... 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 rob...

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... pp. 36 5-3 66 , (in Japanese). A. J. Koivo and G. A. Bekey, "Report of Workshop on Coordi- nated Multiple Robot Manipulators: Planning, Control, and Ap- plications," IEEE J. of Robotics ... 1985, pp. 64 1 -6 48. [8] N. H. McClamroch, "Singular Systems of Differential Equations as Dynamic Models for Constrained Robot Systems, " in Proc. 19 86 IEEE Int. Conf...

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... 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~ &...

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... mechanical systems lheta = [0 -9 0 -9 01 / / , [ ;~ ,/ ./ ; / J ¢ / z theta = [0 -1 80 90] / / - 0 / ,/ I // / ,/ / /" ; z iz / theta = [30 -1 20 -6 0] theta = [60 -1 50 -3 0] ;/ ... the volume 60 Chapter 2. Kinematic manipulability of general mechanical systems theta = [210 -3 10 .6 -1 0.78] f il . / / / / / /" i&apo...

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... Sixth Int'l Symposium on Robotics and Manufacturing (IS- RAM' 96) , May 2 8-3 0, 19 96, Montpellier, France) edited by M. Jamshidi et. al., vol. 6, pp. 66 1 -6 66 , ASME Press, 19 96. [23] ... 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)...

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... 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 bodies maintain rolling ... continuously evolving grasps, both for rolling [8, 28, 73, 139] and sliding [4, 9, 51, 61 , 62 , 69 , 124, 1 26, 1 36] contacts. For the case of rolling contact, the fundamental work...

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... 2 76 1-2 766 , Min- neapolis, MN, 19 96. [67 ] K. Kreutz and A. Lokshin. Load Balancing and Closed Chain Mul- tiple Arm Control. In Proceedings 1988 American Control Confer- ence, pages 214 8-2 155, ... Robotics Research, 4(4): 3-1 7, 19 86. [65 ] O. Khatib. Augmented and Reduced Effective Inertia in Robotic Systems. In Proceedings 1988 American Control Conference, pages 214...

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