Sensing Intelligence Motion - How Robots & Humans Move - Vladimir J Lumelsky Part 3 pot

... =        D 11 D 12 D 13 D 14 D 15 D 16 D 12 D 22 D 23 D 24 D 25 D 26 D 13 D 23 D 33 D 34 D 35 D 36 D 14 D 24 D 34 D 44 D 45 D 46 D 15 D 25 D 35 D 45 D 55 D 56 D 16 D 26 D 36 D 46 D 56 D 66            (2.15) The ... latter. FEEDBACK CONTROL 37 D 11 = m 1 k 2 122 + m 2  k 2 211 s 2 θ 2 + k 2 233 c 2 θ 2 + r 2 (2y 2 + r 2 )  + m 3  k 2 32 2 s 2 θ...

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... such jobs. EXERCISES 137 S T L 5 L 4 L 3 L 2 L 1 H 3 H 1 H o Figure 3. E.2 the second part of Step 2, “ move along until ,” using the current local direction. In Figure 3. E.2, L 1 is self-closed ... holonomic and, second, Sensing, Intelligence, Motion, by Vladimir J. Lumelsky Copyright  2006 John Wiley & Sons, Inc. 139 PROBLEM STATEMENT 141 jogger’s mass and speed t...

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... Mover’s” problem. I. The case of a two-dimensional rigid polygonal body moving amidst polygonal barriers. Commu- nications on Pure and Applied Mathematics 34 :34 5 39 8, 19 83. 19. J. Hopcroft, J. ... contours. Journal of Algorithms 2: 63 76, 1981. 13. T. Lozano-P ´ erez. Spatial planning: A configuration space approach. IEEE Trans- actions on Computers 32 (3) :108–120, February 19 83....

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... 31 2 6 .3. 3 Connectivity of J f 31 3 6 .3. 4 Retraction of J f 31 7 6 .3. 5 Configuration Space and Its Retract 31 8 6 .3. 6 Connectivity Graph 32 1 6 .3. 7 Lifting 2D Algorithms into 3D 32 5 6 .3. 8 Step Planning 32 6 6 .3. 9 ... sensor-based motion planning. x CONTENTS 6.2.5 Algorithm 30 1 6.2.6 Examples 30 4 6 .3 Three-Link XXP Arm Manipulators 30 5 6 .3. 1 Robot Arm Repre...

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... control • Compliant motion • Trajectory modification • Motion planning and collision avoidance; navigation Sensing, Intelligence, Motion, by Vladimir J. Lumelsky Copyright  2006 John Wiley & Sons, ... approaches to the go-from-A-to-B problem into two complementary groups—(1) motion planning with complete information and (2) motion planning with incomplete information—is ti...

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... finite, we have d(L j )>d(H j +1 ). This produces a chain of inequalities for all H and L points, d(H 1 )>d(L 1 )>d(H 2 )>d(L 2 )>d(H 3 )>d(L 3 )>··· (3. 8) Therefore, although ... information such as approximation of obstacles with Sensing, Intelligence, Motion, by Vladimir J. Lumelsky Copyright  2006 John Wiley & Sons, Inc. 73 86 MOTION PLANNING...

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... algorithm VisBug-21 performs better (Figure 3. 15) than algorithm VisBug-22 (Figure 3. 21), but luck switches to VisBug-22 in another scene shown in Figure 3. 23. Convergence of algorithm VisBug-22 follows ... the robot is thrown 118 MOTION PLANNING FOR A MOBILE ROBOT S L j T T i C C’ Q X j (b)(a) S T C Q L j X j C’ T i Figure 3. 18 Illustration for Lemma 3. 6.2: Cases 3a and...

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... Section 5 .3. It INTRODUCTION 181 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 kinematically distinct two-link ... utilization, overall investment, and engineering complexity Sensing, Intelligence, Motion, by Vladimir J. Lumelsky Copyright  2006 John Wiley & Sons, Inc. 177...

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... does this all relate to the actual motion of the arm manipulator in W -space? The actual path in W-space whose reflection in C-space we just con- sidered is shown in Figure 5.14. The path created ... The procedure stops. (b) M-line is met at a distance d from T such that d<d(H j ,T); point L j is defined. Increment j .GotoStep3. (c) The arm returns to position H j (which completes...

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... obstacle; in Figure 5. 23 these are lines 3- 2 -1 and 5-6 -7 . • The straight-line segment that is a part of the W -space boundary; in Fig- ure 5. 23, this is line 7-1 . Of these, the first three segments ... will 230 MOTION PLANNING FOR TWO-DIMENSIONAL ARM MANIPULATORS q 1 + B l 2max q 1 = 0 q 1 = 90° S′ S 1 6 8 9 10 11 12 A T T′ 2 3 4 3 2 1 4 5 7 6 8 9 10 5 7 13 a S (a)...

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