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