Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) part 9 pot
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) part 9 pot
... 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 {An -1 (T C - Urea - Hv) + ff~(~} ...
Automation Congress (WAC&apos ;94 ), Maui, HI, August 1 4-1 7, 199 4)
vol. 2, pp. 11 1-1 16, TSI Press Series, 199 4.
REFERENCES 125
Manufacturing (ISRAM&apos ;...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 3 pot
... Congress (WAC &apos ;9~ ),
Maui, USA, August 199 4, vol. 2, pp. 11 1-1 16.
H.
Inoue, "Computer Controlled Bilateral Manipulator,"
Bul.
JSME,
vol. 14, no. 69, pp. 19 9- 2 07, t971.
M. Uchiyama, ... Springer, pp. 9 0 -9 9, 199 6.
[ 39]
K. Munawar and M. Uchiyama, "Slip Compensated Manipulation
with Cooperating Multiple Robots,"
36th IEEE CDC,
San Diego,...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 4 potx
...
JO = AVT (2 .9)
where
J =
0 I I
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 ... 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~ &a...
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 contact ... set of input-output equations
5.3. Ongoing research issues
135
shown in [1 29] how these ellipsoids can effectively and intuitively distinguish
between 'good' and &ap...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) part 11 potx
...
198 8 IEEE Conference on Robotics and Automation,
pages 99 1 -9 98 ,
198 8.
[94 ] V. Nguyen. Constructing force-closure grasps.
International Jour-
nal of Robotics Research,
8(1):2 6-3 7, 198 9. ... of Robotic Systems, 7(5):75 9-
790 , 199 0.
S.A. Stansfield. Robotic Grasping of Unknown Objects: A Knowl-
edge based Approach. International Journal of Robotics Research...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) part 13 potx
...
Nonlinear Systems
196 pp. 199 4 [ 3-5 4 0-1 98 9 1-1 ]
Vol. 197 : Henry, J.; Yvon, J.P. (Eds)
System Modelling and Optimization
97 5 pp approx. 199 4 [ 3-5 4 0-1 98 9 3-8 ]
Vol. 198 :
Winter, H.; N01~r, H G. (Eds) ... pp. 199 5 [ 3-5 4 0-1 99 9 1-8 ]
Vol. 208: Khalil, H.K.; Chow, J.H.;
Ioannou, P.A. (Eds)
Proceedings of Workshop on Advances
inCon...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 1 pdf
... and
information sciences ; 233)
1.Robotics
I .Chiacchio, Pasquale II .Chiaverini, Stefano
6 29. 8&apos ;92
ISBN 3540762655
Library of Congress Cataloging-in-Publication Data
A catalog record ... and we
have
~= M(q) -1 {'r +
jT(q),~-G(q,q)},
(1 .9)
Substituting Equation (1 .9) into Equation (1.8), we have
J(q)M(q)-ljT(q).~ = J(q)
[M(q) -1 {G(q, q) - T}] - ....
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 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 ... mechanical systems
lheta = [0 -9 0 -9 01
/
/
, [
;~ ,/
./
; /
J
¢ /
z
theta = [0 -1 80 90 ]
/ /
- 0
/
,/
I //
/ ,/
/ /"
; z...
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
1.4142 ~ ,/ ,," - ~ . " - 1~,4142
/ ";' ,, . )(
0.7321 i ;; " " ;-, ,, "" ...
mechanical systems
2
1.5
1
0.5
0
-0 .5
-1
-1 .5
-2
Shape Discrepancy Metric for Two Dimensional Ellipsoids
'1
" "
0.6667 \
"
/ x...
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