Robotics 2010 Current and future challenges Part 5 pps
Robotics 2010 Current and future challenges Part 5 pps
...
2.0
0. 25
0 .5
1.0
60.0
2 .50 3
0.896
5. 0
1.241
60.660
4.012
1.601
3.210
15. 010
57 . 358
4.012
1.601
3.210
10.010
57 . 358
Measured
current [A]
1.871 0.794 0 .59 1
0 .57 2
Power ...
2.0
0. 25
0 .5
1.0
60.0
2 .50 3
0.896
5. 0
1.241
60.660
4.012
1.601
3.210
15. 010
57 . 358
4.012
1.601
3.210
10.010
57 . 358
Measured
current [A...
Robotics 2010 Current and future challenges Part 4 ppsx
...
,0F
in
(50 )
,0v
in
(51 )
F
in
= 0 or v
in
= 0. (52 )
This relation is known as linear complementarity. By solving (49) under conditions of ( 45)
and (50 )- (52 ), contact forces and relative ... Springer, 19 95. M. Yashima, Y.
Shiina and H. Yamaguchi, Randomized Manipulation Planning for A Multi-
Fingered Hand by Switching Contact Modes, Proc. 2003 IEEE Int. Conf. on Robo...
Robotics 2010 Current and future challenges Part 12 pps
... Control, Automation, Robotics and Vision, pp. 1–6
[5] Institute of Electrical and Electronics Engineers, Inc., Standard for local and metropolitan
area networks: overview and architecture. Amendment ... Control, Automation, Robotics and Vision, pp. 1–6
[5] Institute of Electrical and Electronics Engineers, Inc., Standard for local and metropolitan
area networks: overview...
Robotics 2010 Current and future challenges Part 2 pptx
... higher with the passive jack.
0 5 10 15 20 25 30 35 40 45 50
250
300
350
400
450
50 0
55 0
600
650
Time (s)
Position (mm)
Step response of the system with and without passive jac
k
Step response ... actuators are applied on the
Robotics 2010: Current and Future Challenges 44
Robotics 2010: Current and Future Challenges 42
Fig. 6. Target grasping sequence, wait, approach...
Robotics 2010 Current and future challenges Part 3 potx
... combining (6) and ( 15)
M
a
(x) ¨e+C
a
(x, v) ˙e+K
D
(s
1
−s
2
)−∆−∆ = 0. (18)
Robotics 2010: Current and Future Challenges 60
6. References
Aghili, F. (20 05) . A unified approach for inverse and direct ... be obtained by solving the cubic equation derived from the
Robotics 2010: Current and Future Challenges 78
e
1
e
2
e
1
t
e
2
t
Fig. 5. Comparing the tracking errors of exemplarily...
Robotics 2010 Current and future challenges Part 6 pot
... ent
-6,00Nm
-4,00Nm
-2,00Nm
0,00Nm
2,00Nm
4,00Nm
6,00Nm
- 150 -100 -50 0 50 100 150
H1 (fixation at the extremities)
H2 (centered fixation)
Transversale force
-30,0N
-20,0N
-10,0N
0,0N
10,0N
20,0N
- 150 -100 -50 0 50 100 150
H1 (fixation ... ent
-6,00Nm
-4,00Nm
-2,00Nm
0,00Nm
2,00Nm
4,00Nm
6,00Nm
- 150 -100 -50 0 50 100 150
H1 (fixation at the extremities)
H2 (centered fixation)
Transv...
Robotics 2010 Current and future challenges Part 8 pptx
... Robotics 2010: Current and Future Challenges 258
Ability, Proc. of IEEE International Conference on Robotics and Automation, 2007,
FrB12.2.
Amano, ... of the inter-vertebral disc and
ID
the flexed angle of them as shown in Fig.10. Then,
Robotics 2010: Current and Future Challenges 250
Fig. 12. Velocity and input voltage of prototype ... bending of the body is limited t...
Robotics 2010 Current and future challenges Part 9 docx
... expenditure (volt.s) between FLC and PID for sinusoidal flow
disturbance.
˙
Z
set
m
s
FLC PID Improvement
0.1 90.30 127.64 41. 35%
0. 15 107.07 144 .51 34.97%
0.3 154 .06 1 95. 72 27.04%
Table 7. Comparison ... Vol.
702, p. 52 2.
Takagi, T. & Sugeno, M. (19 85) . Fuzzy identification of systems and its applications to model-
ing and control, IEEE transactions on systems, man, and...
Robotics 2010 Current and future challenges Part 11 pptx
...
18
Lateral Position (m)
Longitudinal Position (m)
0 50 100 150 200 250 300 350 400 450 50 0 55 0
- 250
-200
- 150
-100
-50
0
50
100
150
200
250
Destination
(0,0)
Initial position
(-186,366)
: Proportional ... mode and turning mode- are
Robotics 2010 Current and future challenges Part 13 potx
... WorkPartner service robot.
WorkPartner is a centaur-like service robot with four wheeled legs and a human-like upper
body with two hands and a head (see Figure 3).
body with tw
o hands and ... the WorkPartner service robot.
WorkPartner is a centaur-like service robot with four wheeled legs and a human-like upper
body with two hands and a head (see Figure 3).
Fig. 3. The Work...
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