Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) part 12 ppsx
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) part 12 ppsx
...
Motor '"" ~-~ Control ~ Oil Model
l
I Odometer t Elastic Oil Tube
'1[/" | / (4 m)
~^^r IJ~ Pressure Sensor /
II,,m,Ua,llllJIIIIIIIIl( r=,.~ ~~;'"t/.~ ' ...
Friction Cone
Stability
Separation
E,n_-i r, (fn, +
ft,) - Me = 0
f~
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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 ... J.L. Masse)"
Editors
Dr Pasquale Chiacchio
Dr Stefano Chiaverini
Dipartimento di Informatica e Sistemistica,
Universith degli Studi Napoli Federico II,
Via Claudio 21, 1-8 0125 Napoli, ... 21, 1-8 0125 Napoli, Italy
ISBN...
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 ...
Chapter 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...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 3 pot
... 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 Robots," ... Coordination of a Two-Arm Robot," in Proc.
1987 IEEE Int. Conf. on Robotics and Automation, Raleigh, USA,
March 1987, pp. 124 2-1 247.
[12] M. Uchiyama and P. Dauchez, "A Symmet...
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]
;/ ...
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...
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 ... of two-arm robots", Ad-
vanced Robotics, vol. 7, no. 4, pp. 36 1-3 83, 1993.
[9] P. Chiacchio and S. Chiaverini, "PD-Type Control Schemes For Co-
operativ...
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 [129 ] how these ellipsoids can effectively and intuitively distinguish
between 'good' and &ap...