Sensing Intelligence Motion - How Robots & Humans Move - Vladimir J Lumelsky Part 9 docx
Sensing Intelligence Motion - How Robots & Humans Move - Vladimir J. Lumelsky Part 9 docx
... 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 ... l
2
l
1
l
2
l
1
l
2
< l
1
y
x
z
Figure 5.21 The RR arm of Figure 5.19c. (a) The arm design. (b) Two projections of
the arm W-space in case l
2
>l
1
. (c) Two projections of t...
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: ... investment, and engineering complexity
Sensing, Intelligence, Motion, by Vladimir J. Lumelsky
Copyright 2006 John Wiley & Sons, Inc.
177
MINIMUM TIME STRATE...
Sensing Intelligence Motion - How Robots & Humans Move - Vladimir J. Lumelsky Part 11 docx
... 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 ... C-point encounters the M-line and the
arm proceeds in free space along the M-line toward point T .
294 MOTION PLANNING FOR THREE-DIMENSIONAL ARM MANIPULATORS
l
3
l
2
l
1
O
3
a
H
L...
Sensing Intelligence Motion - How Robots & Humans Move - Vladimir J. Lumelsky Part 13 docx
... 31.74
Virtual–visible–RtoL 24 176 .92 29. 54 391 .41 91 .28
Virtual–invisible–LtoR 24 85.82 21.88 340.15 71.65
Virtual–invisible–RtoL 24 156.08 17. 59 392 .41 96 . 89
Physical–visible–LtoR 23 27.70 13 .92 51. 69 11.64
Physical–visible–RtoL ... 163. 19
Virtual–visible–RtoL 24 692 . 79 186 91 2 252.00
Virtual–invisible–LtoR 24 376.02 72 92 0 282.82
Virtual–invisible–RtoL 24 675.75 66...
Sensing Intelligence Motion - How Robots & Humans Move - Vladimir J. Lumelsky Part 14 docx
... Dev.
day1-path 12 96 .68 24. 39 232.55 66. 59
day1-time 12 432.67 65.00 90 0.00 333.66
day2-path 12 1 29. 04 15.13 393 .90 107 .99
day2-time 12 432.42 36.00 90 0.00 365. 89
vis-path 12 88.83 15.13 181 .92 62.20
vis-time ... MS
Effect Effect Effect Error Error F-Value p-Level
1 1 5283.137 91 12 592 .88 0.4 195 34 0.518801
2 1 77. 399 91 12 592 .88 0.006146 0 .93 7684
12 1 8 598 .556...
Sensing Intelligence Motion - How Robots & Humans Move - Vladimir J. Lumelsky Part 1 doc
...
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...
Sensing Intelligence Motion - How Robots & Humans Move - Vladimir J. Lumelsky Part 2 ppsx
... 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...
Sensing Intelligence Motion - How Robots & Humans Move - Vladimir J. Lumelsky Part 3 pot
... 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) ... 43
x
e
y
e
f
ey
Σ
Σ
Σ
Position
controller
Force
controller
−
−
+
+
x
y
1
0
0
0
0
0
0
1
f
ex
f
dx
f
dy
x
d
y
d
x
e
0
0
f
ey
f
x
f
y
Robot
M
1
M
2
Figure 2.10 In the task shown in Figure...
Sensing Intelligence Motion - How Robots & Humans Move - Vladimir J. Lumelsky Part 4 pptx
... 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
)>··· (3.8)
Therefore, ... 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 MO...
Sensing Intelligence Motion - How Robots & Humans Move - Vladimir J. Lumelsky Part 5 pptx
... (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 1 19
(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 | >...
Từ khóa: