Multi-Arm Cooperating Robots- Dynamics and Control - Zivanovic and Vukobratovic Part 5 pdf
Multi-Arm Cooperating Robots- Dynamics and Control - Zivanovic and Vukobratovic Part 2 docx
... the cooperation participants.
Let the two manipulators hold the object from the previous example and let
22 Multi-Arm Cooperating Robots
acting forces on the object, F
c1
and F
c2
and, by small ... knowledge.
It has already been mentioned that for the known right-hand sides of the re-
lations (9), (10) and (11), their left-hand sides are uniquely determined. If the
cooperative work...
Multi-Arm Cooperating Robots- Dynamics and Control - Zivanovic and Vukobratovic Part 3 pot
... nodes and
system of forces) and the dimensional part (dimension [position/force]) that is in-
versely proportional to the elasticity module of the material and characteristics of
the cross-section ... contacts. The ‘non-uniqueness’ appears only in the description of the part of
the system between the manipulator tips (grippers) and object. This suggests the
30 Multi-Arm Coopera...
Multi-Arm Cooperating Robots- Dynamics and Control - Zivanovic and Vukobratovic Part 4 ppt
... tips and object.
Numerical values of the parameters of elastic system (Figure 8) are s
1
= s
2
=
0. 05 [m], m = 25 [kg], c
p
= 20 × 10
3
[N/m], c
k
= 10 × 10
3
[N/m], d
p
= 50 0
[N/(m/s)] and d
k
= ... m
1
= 12 .5 [kg] and m
2
= 12 .5 [kg].
The initial position of the cooperative system prior to the gripping process is
determined by the nodes coordinates Y
10
= 0. 150 [m], Y
20
= 0...
Multi-Arm Cooperating Robots- Dynamics and Control - Zivanovic and Vukobratovic Part 5 pdf
... a
(r
ia
,r
ja
))(˙r
ia
−˙r
ja
) + ρ
ij 0
× ω
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 al...
Multi-Arm Cooperating Robots- Dynamics and Control - Zivanovic and Vukobratovic Part 6 ppsx
... h(q, ˙q) = τ + J
T
f
c
(167)
100 Multi-Arm Cooperating Robots
4.11 Model of Cooperative System Dynamics for the Mobile
Unloaded State
Equations (113) or (1 15) , (167) and (172) define the model of ... contact of the manipulator tips and object in w hich no change of con-
tact point on the manipulated object is allowed, whereas the forces and moments
106 Multi-Arm Cooperating R...
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 ... F
y
1
and moment
M
1
in the direction of the displacements Y
x
1
, Y
y
1
and ϕ
1
of the first contact point.
136 Multi-Arm Cooperating Robots
131
Figure 22c. Simulation resul...
Multi-Arm Cooperating Robots- Dynamics and Control - Zivanovic and Vukobratovic Part 9 ppt
... equations (217) and (218), differential equations should be solved.
Using the indexing system defined in (206), (207) and (203) for the structure
158 Multi-Arm Cooperating Robots
163
Figure 25. Nominal ... assumed that the positions of contact points
162 Multi-Arm Cooperating Robots
159
of matrices and vectors, with the subscript v for the leader (y
v
= y
1
) and subscript
s...
Multi-Arm Cooperating Robots- Dynamics and Control - Zivanovic and Vukobratovic Part 10 pps
... 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 general motion
184 Multi-Arm Cooperating ... required, the contact forces can be given
174 Multi-Arm Cooperating Robots
Figure 32. Simulation results for motion (open-loop cooperative system)
186 Multi-Arm...
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;
• in view of their redundanc y
– non-redundant, and
– redundant;
• in view of joint compliance
– with non-compliant jo...
Từ khóa: