Sensing Intelligence Motion - How Robots & Humans Move - Vladimir J Lumelsky Part 12 pdf

... follows: for j = (j 1 ,j 2 ,j w ), j  = (j  1 ,j  2 ,j  3 ) ∈ J, j Fj  if and only if (j i − j  i )%2π = 0,fori = THREE-LINK XXP ARM MANIPULATORS 315 any set E p ={ (j 1 ,j 2 )} J p , the inverse ... =∅for j  = (j 1 ,j 2 ,l  3 ) with any l  3 ∈ I. Lemma 6.3.3. If j = (j 1 ,j 2 ,l 3 ) ∈ O J 3 + ,thenj  = (j 1 ,j 2 ,l  3 ) ∈ O J 3 + for all...

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... 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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... 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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... 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...

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... 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...

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... (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 | >...

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... information (Piano Mover’s model) and motion planning with incomplete information [other names are sensor-based planning, or Sens- ing Intelligence Motion (SIM)]. The idea is to use sensor-based planning ... 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 to...

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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...

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... 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' b'' b 1 Figure 5.3 Obstacles A and B form “shadows”; ... in W-space translates into a small displacement of the corresponding image point in C-space. A closed curve in W -space has its clos...

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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