Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) part 10 pot
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 ... = 0 (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
: ./~01...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 3 pot
...
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
Ref
-2 O
I i
0 1 2 3 ... 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 R...
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 9 pot
... 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~(~}
(4.50)
The solution for ... 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-
ing...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) part 11 potx
... of Robotics and Autonomous
Systems, 9:24 3-2 63, 1990.
[135]
N. Xi, T.J. Tarn, and A.K. Bejczy. Event-Based Planning and Con-
trol for Multi-Robot Coordination. In Proceedings 1993 IEEE In- ... Kleinmann. Multi-Fingered Grasping Experi-
ments Using Real-Time Grasping Force Optimization. In
Proceed-
ings 1996 IEEE International Conference on Robotics and Automa-
tion,
pages 180 7-1...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) part 13 potx
... Optimization of Systems -
Discrete Event Systems: Sophia-AnlJpolis,
June 1 5-1 6-1 7, 1994
548 pp. 1994 [ 3-5 4 0-1 989 6-2 ]
Vol. 200: Yoshikawa, T.; Miyazaki, F.
(Eds)
Exp dmental Robotics Iih The ... [ 3-5 4 0-1 983 4-2 ]
Vol. 188: Naidu, D. Subbaram
Aeroassisted Orbital Transfer: Guidance
and Control Strategies
192 pp. 1993 [ 3-5 4 0-1 981 9-9 ]...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 1 pdf
... Pasquale Chiacchio and Stefano Chiaverini (Eds)
Complex
Robotic
Systems
~ Springer
Lecture Notes
in Control and Information ... 21, 1-8 0125 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...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 2 pps
...
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
Cur ... 1. Multi-arm robot
systems: A survey
100
'g 50
~ -5 0
-1 00
0
~
- Ref
t I I I t ~ I I t L L I I I
1 2
Time [s]
Figure 1.12: Experimental results: °z~.
10...
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 ...
genera/mechanical
systems
2
1
0,8
N 0
-0 .5
-1
-1 .5
0 0
y -2 -2
X
Figure 2.13: 3D ellipsoid for 6-DOF Stewart platforms: Case 2.
i/I...
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...