Sensing Intelligence Motion - How Robots & Humans Move - Vladimir J Lumelsky Part 10 doc

... robot’s joint vector is j ∈ C. Similarly, L (j )  =  n i L i (j ) ⊂ 3 is a set of points the whole robot occupies when its joint vector is j ∈ C. The workspace is defined as W  =  j ∈C L (j ) where L (j ... 5.8.1. Let j ∗ ∈ C satisfy (5.7); that is, there exists u ∈ L such that w = u (j ∗ ) ∈ O. For given δ>0 and >0, define O = O ∩ U(w,δ), L = L ∩ U(u,δ), and O C =...

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...

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... 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: ... utilization, overall investment, and engineering complexity Sensing, Intelligence, Motion, by Vladimir J. Lumelsky Copyright  2006 John Wiley & Sons, Inc. 17...

Ngày tải lên: 10/08/2014, 02:21

... in W-space translates into a small displacement of the corresponding image point in C-space. A closed curve in W -space has its closed curve counterpart in C-space [105 ]. For an M-line in W -space, ... MANIPULATORS B A A B T S P 2 a 13 a 14 a 1 a 2 a 3 a 5 a 6 a 8 a 9 a 7 O P 1 a 4 b 7 b 2 b 3 b 4 b 5 b 6 a 10 a 11 a 12 b 8 b 9 b 10 b 11 b 12 b 13 b 14 b T a' T a T '' b&ap...

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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 ... 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...

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 ... ·m > 0 and downward if b · m ≤ 0. 2. The C-point moves along the M-line or along an intersection curve between the V-plane and an obstacle, and it is about to leave V-plane at the...

Ngày tải lên: 10/08/2014, 02:21

... only the left-to-right (LtoR) data sets. The results are shown in Table 7.6. Given the significance level p<0.01, we reject the null hypothesis and conclude that in the left-to-right task there ... 0. Let Q i , i = 1, ,m,andR j ,j = 1, ,n, be the ranks of X i and Y j ,respec- tively, among the N = (m + n) combined X and Y observations. That is, R j is the rank of Y j among the mXsa...

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... [106 , 134] and at the University of Wisconsin—Madison Sensing, Intelligence, Motion, by Vladimir J. Lumelsky Copyright  2006 John Wiley & Sons, Inc. 389 RESULTS— EXPERIMENT TWO 373 Multivariate ... another group. Suppose µ ij represents the mean of the dependent variable i for group j , i = 1, 2, j = 1, 2. The mean vector for group j can be written as µ j =  µ 1j µ...

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, ... 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...

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) ... criterion, how does one judge the per- formance of a motion planning algorithm with uncertainty? Given the real-time nature of SIM algorithms, they are expected to allow reasonably...

Ngày tải lên: 10/08/2014, 02:21