Sensing Intelligence Motion - How Robots & Humans Move - Vladimir J Lumelsky Part 7 docx

... 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 planar robot arms manipulators: ... overall investment, and engineering complexity Sensing, Intelligence, Motion, by Vladimir J. Lumelsky Copyright  2006 John Wiley & Sons, Inc. 177 MINIMUM T...

Ngày tải lên: 10/08/2014, 02:21

... 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 ... M-lines shown. (The sketches are not to the same scale.) 242 MOTION PLANNING FOR TWO-DIMENSIONAL ARM MANIPULATORS 0 5 4 2 2 5 A A B 6 3 2,3,5, 6 1 1 3 7 8 9 S,1,4,9 7 8 9 6 B...

Ngày tải lên: 10/08/2014, 02:21

... types of elemental motions that appear in C, called Motion I, Motion II, Motion III, Motion IV, and Motion V, each corresponding to the P c (C-point) motion either along the P c (M-line) or along ... ARM 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...

Ngày tải lên: 10/08/2014, 02:21

... 392.41 96.89 Physical–visible–LtoR 23 27. 70 13.92 51.69 11.64 Physical–visible–RtoL 24 142. 97 15 .78 396.45 109.38 Physical–invisible–LtoR 24 60. 57 15. 17 306.13 75 .78 Physical–invisible–RtoL 23 160.19 ... a simple two-link revolute–revolute arm, shown in Figure 7. 5. As before, the subject is sitting in O 2 J 1 S T P Θ 2 O 3 O 4 O 1 J 0 Θ 1 l 1 l 2 Figure 7. 5 This simple plan...

Ngày tải lên: 10/08/2014, 02:21

... Error F -Value p-Level 1 1 13860.02 10 77 56.985 1 .78 678 0 0.210934 2 1 6281.40 10 72 92.9 07 0.861303 0. 375 232 12 1 1 270 6.58 10 72 92.9 07 1 .74 2321 0.216262 TABLE 7. 19. Results of ANOVA on Completion ... F -Value p-Level 1 1 5248143.0 184 51 978 .68 100.9 672 0.000000 2 1 18 971 9.0 184 51 978 .68 3.6499 0.0 576 26 3 1 3 475 104.0 184 51 978 .68 66.8563 0.000000 12 1 12523.0 1...

Ngày tải lên: 10/08/2014, 02:21

... SENSING, INTELLIGENCE, MOTION HOW ROBOTS AND HUMANS MOVE IN AN UNSTRUCTURED WORLD Vladimir J. Lumelsky A JOHN WILEY & SONS, INC., PUBLICATION ACKNOWLEDGMENTS When ... the field, a smooth motion and a less-than- wooden personality are not among them. A robotics Sensing, Intelligence, Motion, by Vladimir J. Lumelsky Copyright  2006 John Wiley & Sons, Inc. 1...

Ngày tải lên: 10/08/2014, 02:21

... control • Compliant motion • Trajectory modification • Motion planning and collision avoidance; navigation Sensing, Intelligence, Motion, by Vladimir J. Lumelsky Copyright  2006 John Wiley & Sons, Inc. 27 KINEMATICS ... approaches to the go-from-A-to-B problem into two complementary groups—(1) motion planning with complete information and (2) motion planning with incompl...

Ngày tải lên: 10/08/2014, 02:21

... this way. • Motion planning with incomplete information, also called sensor-based motion planning or on-line motion planning,orpath planning with uncer- tainty,ortheSensing Intelligence Motion (SIM) ... time, was born on April 15, 170 7, in Basel, Switzerland, and spent most of his career, between 172 7 and 174 1 and then from 176 6 until his death on September 18, 178 3, in St. Peter...

Ngày tải lên: 10/08/2014, 02:21

... information such as approximation of obstacles with Sensing, Intelligence, Motion, by Vladimir J. Lumelsky Copyright  2006 John Wiley & Sons, Inc. 73 86 MOTION PLANNING FOR A MOBILE ROBOT If point ... line is 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 )>...

Ngày tải lên: 10/08/2014, 02:21

... (S, H j ) because otherwise at least a part of the straight-line seg- ment (L j −1 ,H j ) would be included inside the obstacle. This is impossible VISION AND MOTION PLANNING 119 (a)(b) S L j T Q X j T i C S T Q L j X j T i C Figure ... set of hit and leave points, H j and L j , along the M-line so as to form a sequence of segments |ST | > |H 1 T | > |L 1 T | >...

Ngày tải lên: 10/08/2014, 02:21