Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) part 11 potx
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) part 11 potx
... IEEE International Conference on Robotics and
Automation,
pages 168 0-1 686, Nagoya, Japan, 1995.
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[122l
[123] ... supported in part by the National Science Foundation under
grants CMS-9532081 and IRI-9526363, by the Office of Naval Research
under contract N0001 4-0 6-C-0320, and by NASA co...
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 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 ]
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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
... 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 ... when disturbing external
1.5. Load sharing
11
0~
Zcl_ "'" l Zc," O~l ~ ,
hr~~~+ ~r s~m~ V
Ec
4 l" I_ ,
L
-I h~ 4- ~ j- ~c
Figure 1.4: A hybrid pos...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 3 pot
... Congress (WAC '9~),
Maui, USA, August 1994, 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. ... Formulation
and Non-Master/Slave Coordinated Control of Two-Arm Robots,"
Advanced Robotics: The International .Journal of the Robotics So-
ciety of Japan, vol. 7, no. 4, pp. 36 1-3...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 5 pptx
...
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/II
1.5 I I
1 t
0,5 "
NO
7
-1 " I
2
y ~2 -2
X ... 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...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 7 doc
... 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, L. Sciavicco, and B. Siciliano, "Closed- ... 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...
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...
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