Multi-Arm Cooperating Robots- Dynamics and Control - Zivanovic and Vukobratovic Part 4 ppt
Analysis and Control of Linear Systems - Chapter 4 ppt
... the use of rollouts and in particular
the fixed poles and the remaining degrees of freedom, we can mention [MAL 93,
MAL 97] and [MAR 94, MAR 99].
126 Analysis and Control of Linear Systems ...
[]
, and
pp
p
−−−
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⎤⎡ ⎤
−−
⎢
⎥⎢ ⎥
−−
⎣
⎦⎣ ⎦
IA IA B
IA B
CC0
[4. 13]
128 Analysis and Control of Linear Systems
4. 2.5. Notes and references
The general...
Robot Manipulator Control Theory and Practice - Frank L.Lewis Part 4 pptx
... R.Ortega and M.Spong. “Adaptive Motion Control
of Rigid Robots: A Tutorial”. Proc. IEEE Conf. Dec. and Cont., pp.
1575–15 84, 1988.
[Ortega et al. 1998] R.Ortega and A.Loria and P.J.Nicklasson and ... Working Group AF-TM-0056.000, version 4. 0,
April 1996.
[Niculescu et al. 1997] S I.Niculescu and E.Verriest and L.Dugard and J
M.Dion. “Stability and robust stability of t...
Multi-Arm Cooperating Robots- Dynamics and Control - Zivanovic and Vukobratovic Part 2 docx
... q
1
2
+ l
2
2
cos(q
1
2
+ q
2
2
)
+ l
3
2
cos(q
1
2
+ q
2
2
+ q
3
2
) + l
4
2
cos(q
1
2
+ q
2
2
+ q
3
2
+ q
4
2
)
z
o2
+ l
1
2
sin q
1
2
+ l
2
2
sin(q
1
2
+ q
2
2
)
+ l
3
2
sin(q
1
2
+ q
2
2
+ ... l
1
2
cos q
1
2
+ l
2
2
cos(q
1
2
+ q
2
2
)
+ l
3
2
cos(q
1
2
+ q
2
2
+ q
3
2
) + l
4
2
cos(q
1
2
+ q
2
2
+ q
3
2
+ q
4
2
)
z
o2...
Multi-Arm Cooperating Robots- Dynamics and Control - Zivanovic and Vukobratovic Part 3 pot
... system, and even then the forces at
Mathematical Modeling of Cooperative Systems
45
y
2
− y
3
= y
23
= Y
2
− Y
3
+ Y
30
− Y
20
= Y
2
− Y
3
+ s
3
=
1 −
Y
20
− Y
30
||Y
2
− Y
3
||
(Y
2
− Y
3
), ... the derivatives of coordinates are differ-
34 Multi-Arm Cooperating Robots
3. 1 Some Known Solutions to Cooperative Manipulation Models
In [12] and [ 13] , the vect...
Multi-Arm Cooperating Robots- Dynamics and Control - Zivanovic and Vukobratovic Part 4 ppt
... position and force of the
manipulated object are X
0
, Y
0
and F
I 0
, whereas Y
i
, F
i
, F
ci
and τ
i
, i = 1, 2are
the displacements of contact points, elastic forces, contact forces and manipula-
tor ... is to be solved by introducing the assump-
54 Multi-Arm C ooperating Robots
i.e. the dependence F = ∂/∂y = Ky has been fully preserved. Thus, the prin-
ciple of the minimum...
Multi-Arm Cooperating Robots- Dynamics and Control - Zivanovic and Vukobratovic Part 5 pdf
... a
(r
ia
,r
ja
))(r
ia
r
ja
) +
ij 0
ì
0
, (89)
80 Multi-Arm Cooperating Robots
4 .5 Model of Elastic System Dynamics for the Immobile Unloaded
State
In this section, all the models of dynamics are derived using Lagrange’s ... direc-
tion y
z
i
. The total potential energy of the elastic system is only its deformation
82 Multi-Arm Cooperating Robots
73
efficient on-line algor...
Multi-Arm Cooperating Robots- Dynamics and Control - Zivanovic and Vukobratovic Part 6 ppsx
... A
ia
) R
6 1
,Y= col(Y
0
, ,Y
m
) R
6m +6
L
va
(Y ) = diag(L
v0a
, ,L
vma
) R
(6m +6) ì(6m +6)
,
L
via
= diag(I
3ì3
,L
ia
(A
ia
)) R
6 6
,
v
ia
= col(r
ia
,
ia
(A
ia
)) = L
via
(Y
i
)
Y
i
R
6 1
,
ia
= ... R
6mì6m
,
detW
ca
(Y
c
) = 0,
w
ca
(Y,
Y) = (w
T
1a
(Y,
Y) w
T
ma
(Y,
Y))
T
R
6mì1
, (1 16)
where Y
c
denotes the expanded vector of contact position in the 6m-dimensional
spac...
Multi-Arm Cooperating Robots- Dynamics and Control - Zivanovic and Vukobratovic Part 8 doc
... Simulation results for τ
1
1
= 50 [Nm] and τ
1
2
=−50 [Nm]
132 Multi-Arm Cooperating Robots
part referring to the physical quantity used in modeling and the number indicat-
ing the ordinal number of the ... non-
homogeneous system of differential equations involving dif ferential constraints.
Such a system is solved by taking the left-hand side of the equality being given and
see...
Multi-Arm Cooperating Robots- Dynamics and Control - Zivanovic and Vukobratovic Part 9 ppt
... equations (2 39) represents non-holonomic constraints. Solv-
ing the nominal motion assumes the explicit calculation of the necessary contact
156 Multi-Arm Cooperating Robots
1 49
+[u
0
c
−1
0
− ... that the positions of contact points
162 Multi-Arm Cooperating Robots
1 59
of matrices and vectors, with the subscript v for the leader (y
v
= y
1
) and subscript
s for the followe...
Multi-Arm Cooperating Robots- Dynamics and Control - Zivanovic and Vukobratovic Part 10 pps
... stabilized first
and then Steps 10, 11 and 12 replaced by Steps 10a, 11a and 12a.
Step 10a.
By introducing the coordinates, velocities, and accelerations of the nodes, deter-
mined in Step 4, and the ... y
s
s0
=
col(y
s
s
,y
s
0
) and the force at the MC of the manipulated object at the end of grip-
168 Multi-Arm Cooperating Robots
Figure 30. Nominals for manipulated object...
Multi-Arm Cooperating Robots- Dynamics and Control - Zivanovic and Vukobratovic Part 11 pptx
... of time for the
non-controlled object and of time and state for the controlled object. For the con-
200 Multi-Arm Cooperating Robots
For a linear system of n
x
ordinary first-order differential ... torques τ ,andthe
204 Multi-Arm Cooperating Robots
203
elastic;
ã in view of their redundanc y
non-redundant, and
redundant;
ã in view of joint compliance
with non-compliant joint...
Multi-Arm Cooperating Robots- Dynamics and Control - Zivanovic and Vukobratovic Part 12 pptx
... the
behavior of the non-controlled quantities q
v
, F
cv
and F
cs
and calculated driving
torques τ .
The conclusion about the behavior of the non-controlled quantities will be de-
rived on the basis ... the
moment when the control- realized asymptotic tracking of the controlled quanti-
ties Y
0
and q
s
takes place. The goal is to estimate or determine the deviations of
the non-controll...
Multi-Arm Cooperating Robots- Dynamics and Control - Zivanovic and Vukobratovic Part 13 ppt
... dt
⎞
⎠
230 Multi-Arm Cooperating Robots
The control laws synthesized in the preceding section ensure the vector of in-
crements Y
s0
= col(Y
s
,Y
0
) and its deriv atives have an exponentially de-
scending ... indirectly given by (312) and (315), whereby the non-controlled quantities
(kinematic quantities of the leader, contact forces and driving torques) will not be
228 Mult...
Multi-Arm Cooperating Robots- Dynamics and Control - Zivanovic and Vukobratovic part 14 pptx
... but
it is the cooperative system control. Control schemes ‘leader/follower control
and ‘master/slave control [14, 50], ‘motion/force control [51, 52], ‘coordinated
control [15, 53, 54], are synthesized ... considered as part of the elastic
interconnections of the object and manipulators. The object and elastic intercon-
252 Multi-Arm Cooperating Robots
⎡
⎢
⎢
⎢
⎢
⎢
⎢
⎢
⎢
⎣...
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