CRC Press - Robotics and Automation Handbook Episode 2 Part 7 pps

... (MPa) Steel-carbon 1040 cold rolled 20 6.8 80.8 7. 8 26 .5 490 Stainless steel 301 cold rolled 20 6.8 80.8 7. 8 26 .5 1138 Aluminum 6061 heat treated 71 .7 26 .8 2. 8 25 .6 27 6 Kevlar 49 ® 120 X 1.45 82. 8 23 00 a S ... Collision detection and response for computer animation, Computer Graphics SIGGRAPH 1988, vol. 22 , pp. 28 9 29 8, 1988. Copyright © 20 05 by CRC Press...

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... 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 and simple phenomenon that leads to unavoidable and complex ... 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,...

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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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... 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 1.195 1.19 1.185 1.18 1 .2 FIGURE ... t ) dt + x ( t – Ts ) x . . FIGURE 21 .11 General simulation blo...

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... 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 .9 Top: A picture of the UAV in landing process. Bottom ... calculated using Copyright © 20 05 by CRC Press LLC 22 -1 6 Robotics and Automation Handbook the following relationship   Nx −  Nx  N T x N T x   λ...

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... 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- 6 Ethernet, 2 6-1 1, 2 6-1 2, 2 6-1 2f Euclidean distance, 2- 1 Euler angles, 2- 4 , 1 7- 4 Euler-Lagrange ... 2 1 -7 , 2 1-8 ACS, 2 4-3 6f, 2 4-3 7f Active touch, 2 3-9 , 2 3-1 1 Activity of force F, 6-4...

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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 ... Automation Handbook code 3-DOF system full sea state, 2 1 -2 4 27 single DOF example, 2 1 -2 3 24 cost, 2 1-1 1 Matrix e...

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... 20 05 by CRC Press LLC 3 -3 0 Robotics and Automation Handbook B.9 File ‘‘Tdes.dat’’ -0 .70 7106 0 0 .70 7106 12 0-1 0 12 0 .70 7106 0 0 .70 7106 -1 2 0001 B.10 File ‘‘theta.dat’’ 24 .0 103.0 145.0 21 5.0 29 .2 30.0 References [1] ... © 20 05 by CRC Press LLC 5 -1 6 Robotics and Automation Handbook [26 ] Sciavicco, L. and Siciliano, B., Modeli...

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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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... revolution. Copyright © 20 05 by CRC Press LLC 9 -2 0 Robotics and Automation Handbook 20 0 −150 −100 −50 0 50 100 150 20 0 0 0.5 1 1.5 2 2.5 3 0.5 Hz 1 Hz 2 Hz Control Effort Time FIGURE 9 .29 Control effort ... p Z y x z Θ z1 Θ z2 FIGURE 10.8 A robot to be modeled kinematically. Copyright © 20 05 by CRC Press LLC 9 -1 8 Robotics and Automation Handbook...

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