CRC Press - Robotics and Automation Handbook Episode 2 Part 5 ppt

... space LDRDJacobian=simple(Jacobian(H(1:3,4),[th1;th2;th3])); LDRDJacobian_cc=ccode(LDRDJacobian); Copyright © 20 05 by CRC Press LLC 21 -2 2 Robotics and Automation Handbook 1 .22 20 0 40 60 80 100 120 Z-Direction Tip Position (m) Time (sec) 1 .21 5 1 .21 1 .20 5 1.1 95 1.19 1.1 85 1.18 1 .2 FIGURE ... t ) dt + x ( t – Ts ) x . . FIGURE 21 .11 General simul...

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... haptic Copyright © 20 05 by CRC Press LLC A Survey of Geometric Vision 22 -2 5 [58 ] Thrun, S., Robotic mapping: a survey, CMU Technical Report, CMU-CS-0 2- 1 11, February 20 02. [59 ] Tomasi, C. and Kanade, ... interface FIGURE 23 .5 Block diagram of haptic rendering. Copyright © 20 05 by CRC Press LLC 22 -1 8 Robotics and Automation Handbook FIGURE 22...

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... model, 2 1-1 8f Hazard analysis, 2 5- 4 5 initial and final risk legend, 2 5- 5 likelihood determination, 2 5- 5 risk acceptability, 2 5- 5 severity determination, 2 5- 5 verification and validation, 2 5- 4 Hazardous ... equation, 1 7-9 Error sources, 1 0-1 effects on roundness, 1 0-1 5f superposition of, 1 0-1 5f Essential matrix, 2 2- 4 5, 2 2-...

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... cells detected and extracted, 2 2- 2 0f feature extraction, 2 2- 1 8 feature matching, 2 2- 2 0f matching, 2 2- 2 0f reconstruction, 2 2- 2 0f SystemBuild, 2 1-1 0, 2 1-1 3 System characteristic behavior, 2 4 -2 6 27 System ... 1 2- 1 0 Switzerland, 1-8 Symbolic packages, 2 1-1 5 Symmetric multiple-view matrix, 2 2- 1 5 Symmetric multiple-view rank...

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... 2m 2 r 1 r 2 C 2 + J 1 m 2 r 2 2 + m 2 r 1 r 2 C 2 m 2 r 2 2 + m 2 r 1 r 2 C 2 m 2 r 2 2 + J 2  (18.8) c(q, ˙ q) =  −m 2 r 1 r 2 S 2 ˙ q 2 2 − 2m 2 r 1 r 2 S 2 ˙ q 2 1 ˙ q 2 2 m 2 r 1 r 2 S 2 ˙ q 2 1  (18.9) F d F I-T ... below. Copyright © 20 05 by CRC Press LLC 17 -2 2 Robotics and Automation Handbook [22 ] Kim,...

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... formula- tion by Mirtich and Canny [55 ] uses only impulses to account for interaction, with many tiny repeated Copyright © 20 05 by CRC Press LLC 24 -2 2 Robotics and Automation Handbook and M ij =      0 ... Collision detection and response for computer animation, Computer Graphics SIGGRAPH 1988, vol. 22 , pp. 28 9 29 8, 1988. Copyright © 20 05 by CRC P...

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... PA, pp. 20 91 20 95, June 21 23 , 1989. [20 ] Wang, D. and Vidyasagar, M., Passive control of a stiff flexible link, Int. J. Robotics Res., vol. 11, pp. 5 72 57 8, 19 92. Copyright © 20 05 by CRC Press ... application, Copyright © 20 05 by CRC Press LLC 24 -4 2 Robotics and Automation Handbook 24 .4 Summary Elasticity of structural material is a pervasive...

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... Kurfess, Thomas R. TJ211.R 557 3 20 00 629 .8’ 92 dc21 20 04049 656 1804_Disclaimer.fm Page 1 Tuesday, August 17, 20 04 3:07 PM Copyright © 20 05 by CRC Press LLC ROBOTICS AND AUTOMATION HANDBOOK EDITED BY Thomas ... with sides of length 0-8 49 3-1 80 4-1 / 05$ 0.00+$1 .50 © 20 05 by CRC Press, LLC 2- 1 Copyright © 20 05 by CRC Press LLC This book c...

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... L T u 2 1 + 2u 1 u 2  a 2 (6.48) a C ∗ =  − L T ˙ u 1 + ˙ u 2 − (L P +q 2 + L C )u 2 1  a 1 +  (L P +q 2 + L C ) ˙ u 1 +−L T u 2 1 + 2u 1 u 2  a 2 (6.49) Copyright © 20 05 by CRC Press LLC 6 -1 8 Robotics ... section and gives a fuller understanding of issues Copyright © 20 05 by CRC Press LLC Kane’s Method in Robotics 6 -1 9 where s 2 and...

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... is m ¨ z 1 =−vsin(θ 2 ) m ¨ z 2 = u − vcos(θ 2 ) −mg I ¨ θ = 0 m 2 ¨ y 1 = vsin(θ 2 ) m 2 ¨ y 2 = vcos(θ 2 ) −m 2 g I 2 ¨ θ 2 = u 2 − vτ 1 Where m, I are the mass and the moment of inertia of the disk, m 2 , I 2 are ... I 2 sin(ψ) 2 sin(θ) 2 + 2 ˙ φ ˙ ψ I 2 cos(ψ) sin(ψ) sin(θ) 2 − 2 ˙ φ ˙ ψ I 1 cos(ψ) sin(ψ) sin(θ) 2 + ¨ φ I 1 cos(ψ) 2 sin(θ)...

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