Control Problems in Robotics and Automation - B Siciliano and K P Valavanis (Eds) Part 12 pptx

... -lC~X) -2 < /b> 000 -3 < /b> 000 -4 < /b> 0CC -5 < /b> OO0 -6 < /b> 00C I I ] I I -2 < /b> 000 0 2~ 4000 6000 Fig. 5.10. Overtake maneuvers. Top: 1.5kd0 = kdl, k~ 0 krl kvo : kvl = 1.0. Bottom: 1.5kd2 kd3, k~ 2 k~ 2 0.0; k~ 3 ... We adopt the potential and < /b> vortex field ap- proach for distributed motion planning proposed in < /b> [17]. In < /b> ATM the absence...

Ngày tải lên: 10/08/2014, 01:23

... adeluca@giannutri, caspur, it B. Siciliano and < /b> K. P. Valavanis (Eds) Control < /b> Problems < /b> in < /b> Robotics < /b> and < /b> Automation < /b> ~ Springer viii Preface Multifingered robot hands can be regarded as a special class ... Urbana-Champaign 1308 W Main St Urbana, IL 61801, USA m-spongOuiuc, edu Preface The purpose of the book is to focus on th...

Ngày tải lên: 12/06/2014, 11:52

... control < /b> and < /b> passivity-based control < /b> methods are invoked for stabilization and < /b> tracking control < /b> purposes. The chapter by Canudas de Wit concerns the problem of controlling mo- bile robots and < /b> ... book is to focus on the state-of-the-art of control < /b> prob- lems in < /b> robotics < /b> and < /b> automation.< /b> Beyond its tutorial value, t...

Ngày tải lên: 27/06/2014, 18:20

... Library Library of Congress Cataloging -in-< /b> Publication Data Control < /b> problems < /b> in < /b> robotics < /b> and < /b> automation < /b> / B. Siciliano and < /b> K. P. Valavanis, eds. p. cm. - < /b> - (Lecture notes in < /b> control < /b> and < /b> information ... The purpose of the book is to focus on the state-of-the-art of control < /b> prob- lems in <...

Ngày tải lên: 10/08/2014, 01:23

... lin- earization approaches assume that the robot dynamics are perfectly known so that nonlinear feedback can be applied to cancel the robot dynamics. Nonlin- ear feedback linearization approaches ... impedance control < /b> of robotic manip- ulators. IEEE J Robot Automat. 4:54 9-5 < /b> 56 [2] Arimoto S 1995 Fundamental problems < /b> of robot control:< /b> Parts I and < /b> II. R...

Ngày tải lên: 10/08/2014, 01:23

... [12] Nakano E, Ozaki S, Ishida T, Kato I 1974 Cooperational control < /b> of the anthro- pomorphous manipulator 'MELARM'. In:< /b> Proc ~th Int Syrup Industr Robot. Tokyo, Japan, pp 25 1-2 < /b> 60 ... conclude the paper in < /b> Sect. 4. with a discussion of the open problems < /b> in < /b> planning and < /b> controlling such devices. 2. Nonholonomy on Purpose A knif...

Ngày tải lên: 10/08/2014, 01:23

... expression (2.3), the combining operator &apos ;and&< /b> apos; can be implemented in < /b> two alternatives, either sup-product operator or sup-rain operator. 3. Enhanced Fuzzy Control < /b> Apparently, applying ... uncertain object. In < /b> Proc 1996 IEEE Int Conf Robot Automat. Minneapolis, MN, pp 223 2-2 < /b> 237 [9] Hsu F-Y, Fu L-C 1996 Intelligent robot deburring using ad...

Ngày tải lên: 10/08/2014, 01:23

... finite-element approach to control < /b> the end-point motion of a single-link flexible robot. J Robot Syst. 4:6 3-7 < /b> 5 [4] Bayo E, Serna M A, Papadopoulus P, Stubbe J 1989 Inverse dynamics and < /b> kinematics ... tackle the input-output decoupling and < /b> linearization problem for the original output q. The mapping from f to q, represented by Eq. (2.14), contains the mai...

Ngày tải lên: 10/08/2014, 01:23

... support phase, no slip impact, no slippage of pivot during the single support phase and < /b> no detachment of pivot during the single support phase respectively. For example, to construct a map representing ... certain important properties in < /b> common with the fixed-base robot model; in < /b> particular, the inertia matrix is positive definite and < /b> the well-known skew-symmet...

Ngày tải lên: 10/08/2014, 01:23

... plane Position-based visual Image-based visual servo servo Dynamic position-based Dynamic image-based look -and-< /b> move look -and-< /b> move Vision-based Robot Control < /b> 179 Using homogeneous coordinates ... management and < /b> unmanned submarine vehicles. In < /b> terms of robotic applications, the concept of multibody train-like ve- hicles has been proposed [9] to face...

Ngày tải lên: 10/08/2014, 01:23