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...

Ngày tải lên: 11/08/2014, 21:22

... ,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...

Ngày tải lên: 11/08/2014, 21:22

... 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...

Ngày tải lên: 11/08/2014, 21:22

... 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...

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... 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...

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... 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...

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... 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...

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... 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...

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... 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

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... 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...

Ngày tải lên: 11/08/2014, 21:22