Sensing Intelligence Motion - How Robots & Humans Move - Vladimir J Lumelsky Part 1 doc

... 13 1. 2 .1 Robot? What Robot? 13 1. 2.2 Space. Objects 15 1. 2.3 Input Information. Sensing 15 1. 2.4 Degrees of Freedom. Coordinate Systems 18 1. 2.5 Motion Control 20 1. 2.6 Robot Programming 21 1.2.7 Motion ... Projects 417 References 4 21 Index 429 To Rakhil, Nadya, Michael, and Anna CONTENTS Preface xiii Acknowledgments xxiii 1 Motion Planning—Introduction 1 1...

Ngày tải lên: 10/08/2014, 02:21

... on motion planning later, in Section 5.3. It INTRODUCTION 18 1 q 1 q 2 q 1 q 1 l 2 l 1 l 2 l 1 l 1 l 2 J o J o J o J o J o J 1 J 1 J 1 J 1 J 1 q 2 l 1 l 2 a b (a)(b)(c) ( d )( e ) Figure 5 .1 Five ... planar, but it remains two-dimensional. 5 .1. 1 Model and Definitions The Robot Arm. The arm body consists of two links, l 1 and l 2 , and two jo...

Ngày tải lên: 10/08/2014, 02:21

... (RR) ARM 19 1 a 2 a 3 a 1 a 4 a 5 a 6 a 8 a 7 a 10 a 9 a 11 a 12 a 14 a 13 a b 3 b 1 b 2 b 4 b 6 b 7 b 8 b 9 b 10 b 11 b 12 b 13 b 14 b 15 b 16 b 5 A B C q = 0 θ 1 ’’ θ 1 ’ a 16 a 17 O b 17 Figure ... different range, both 19 6 MOTION PLANNING FOR TWO-DIMENSIONAL ARM MANIPULATORS 14 6 B A 24 23 22 21 20 19 18 17 16 15 L 1 11 10 1 H 13...

Ngày tải lên: 10/08/2014, 02:21

... two-link arm manipulators (see Figure 5 .1) . PRISMATIC–REVOLUTE (PR) ARM 237 A B S T 1 1 2 3 4 4 5 6 3,6 7 8 8 S 9 2,7 9 10 11 T 5 12 12 13 0 1 14 10 ,14 15 11 ,15 16 13 ,16 M 1 M 2 17 0 17 ,22 18 18 ,20 19 C 19 20 21 1 2 3 4 5 6 7 8 18 19 20 21 9 10 11 12 13 l 1 l 1max 17 q ... 2 21 x 2 y o J 1 x o z o (a)(b) (c)(d) J 1 J 2 z o x o x 1...

Ngày tải lên: 10/08/2014, 02:21

...  1 2 bound in T 1 , and x and y do not lie on | 1 1 | or | 1 2 |, at least one of the 1- cycles  1 1 ,  1 2 ,  1 1 +  1 2 bounds in T 1 − (x ∪ y). Theorem 5.9 .10 . [11 0, V.9 .1. 2] Let F 1 and F 2 be ... 5.9.2 ∂(C 2 1 + C 2 2 ) = ( 1 + ∂C 2 ) + ∂C 2 =  1 The 2-chain (C 2 1 + C 2 ) 1 also has boundary  1 . For every 1- cycle  1 0 in G 0 there is...

Ngày tải lên: 10/08/2014, 02:21

... 277 l 3 d e c b a P o l 3 J 3 l 2 l 1 l 1 J 2 J 1 l 2 O 1 O 2 O 3 g f l 3max l 2max l 1max Figure 6.2 The work space of a 3D Cartesian arm: l 1 , l 2 ,andl 3 are links; J 1 , J 2 ,and J 3 are prismatic joints; ... Set j = j + 1 and define H j = curr loc;setF = 1andsetlocal dir1 according to Rule 1. Go to Step 4. (d) A Type II − obstacle is encountered. Set j...

Ngày tải lên: 10/08/2014, 02:21

... 23 27.70 13 .92 51. 69 11 .64 Physical–visible–RtoL 24 14 2.97 15 .78 396.45 10 9.38 Physical–invisible–LtoR 24 60.57 15 .17 306 .13 75.78 Physical–invisible–RtoL 23 16 0 .19 14 .26 5 01. 59 14 5 .10 Time to ... path Virtual–visible–LtoR 24 58.77 18 .26 14 7.23 31. 74 Virtual–visible–RtoL 24 17 6.92 29.54 3 91. 41 91. 28 Virtual–invisible–LtoR 24 85.82 21. 88 340 .15 71. 65 Virt...

Ngày tải lên: 10/08/2014, 02:21

... F -Value p-Level 1 1 524 814 3.0 18 4 519 78.68 10 0.9672 0.000000 2 1 189 719 .0 18 4 519 78.68 3.6499 0.057626 3 1 347 510 4.0 18 4 519 78.68 66.8563 0.000000 12 1 12523.0 18 4 519 78.68 0.2409 0.62 412 7 13 ... Error Error F-Value p-Level 1 1 5283 .13 7 91 12592.88 0. 419 534 0. 518 8 01 2 1 77.399 91 12592.88 0.00 614 6 0.937684 12 1 8598.556 91 12592.88 0.682 81...

Ngày tải lên: 10/08/2014, 02:21

... 29 b l 1 Θ 1 Θ 2 J o J 1 R a l 2 l 1 – l 2  y x Figure 2 .1 A planar two-link arm manipulator: l 1 and l 2 are links, with their respective endpoints a and b; J 0 and J 1 are two revolute joints; ... q 3 ) x (b) (a) J o J 1 q 2 q 1 x y P (x, y) l 1 l 2 Figure 1. 2 (a) A simple planar arm manipulator with two links (l 1 ,l 2 ), and two revolute joints (J 0...

Ngày tải lên: 10/08/2014, 02:21

... (see Ref. 7), n 0 ,1 = K 01 (θ 1 − θ 1d ) + L 01 e 1 + H 01 θ 1 ˙e 1 = θ 1 − θ 1d (2 .16 ) and n 1, 2 = K 12 (θ 2 − θ 2d ) + L 12 e 2 + H 12 θ 2 ˙e 2 = θ 2 − θ 2d (2 .17 ) Steady-State Analysis. Assume ... gives θ 1 = θ 1d θ 2 = θ 2d e 2 = 1 L 12  1 2 m 2 l 2 g 2 cos(θ 1d + θ 2d ) + n 2,3  + 1 L 12  l 2 cos(θ 1d + θ 2d )f 2,3y − l 2 sin(θ 1d + θ 2d )f 2,...

Ngày tải lên: 10/08/2014, 02:21