Robotics 2010 Current and future challenges Part 11 pptx

... with linear and angular velocity components. In (1), U, V, W, and P, Q, R are x, y, z components of linear and angular velocities.  , M, and I represent displacement, mass, and mass moments ... evaluate current angular veloc- ities. Received reference angular velocities and current angular velocities are compared and PWM signals are generated via PID controllers (as i...

Ngày tải lên: 11/08/2014, 21:22

... 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, and grasp 7. Operational ... coordinates Robotics 2010: Current and Future Challenges 52 and then define Γ r  ¯ Γ 22 , and Γ o  ¯ Γ 12 . (30) Now, substituting (25) into (22) and then using definitions (28) a...

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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, ... and novel research topic. Moreover, precise control of such a pipe inspection robot when subjected to flow disturbances necessitates Robotics 2010: Current and Future Challenges 236 other hand, ... of the inter-vertebral disc and...

Ngày tải lên: 11/08/2014, 21:22

... 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. (2005). A unified approach for inverse and direct ... the measurable actuation ones. For this reason and as it is brilliantly discussed by Wang and Robotics 2010: Current and Future Challenges 68 can be proven (see Appendix). The avail...

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... Shiina and H. Yamaguchi, Randomized Manipulation Planning for A Multi- Fingered Hand by Switching Contact Modes, Proc. 2003 IEEE Int. Conf. on Robotics and Automation, 2003. Y. Yin, S. Hosoe, and ... q  and maxmin 222 qqq  . • The object and the floor contact at a point and the object does not do rotational motion. • A mode where both contact points (hand and object...

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... the half hitch. The left end and the right end of the rope are represented by l 1 and l 2 , and the left end and the right end of the object are represented by r 1 and r 2 . The description ... robot hand and improve the tactile sensor. 7. References P. K. Allen & P. Michelman (1990). Acquisition and interpretation of 3-d sensor data from touch, IEEE Transactions on...

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... velocity in hand (approx.) Joint torque (continuous) 18 Nm 18 Nm 13 Nm 13 Nm Continuous effort in hand (approx.) 50 N 50 N 40 N 40 N No-load friction in hand (approx.) BACK ARM 3 N 2 N SHOULDER 110 ° DC ... Extension ARTICULATION Amplitude Motors Transmission Ratio 117 49 47 Max. velocity in hand (notional) Joint torque (continuous) 2 Nm 2 Nm 2 Nm Continuous effort in hand (approx.) 19 N 22...

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... pipes, Workshop on Service Automation and Robotics, City University of Hong Kong. ˙ Z set m s FLC PID Improvement 0.1 83.77 94.46 12.76% 0.15 100.64 111 .88 11. 17% 0.3 149.13 164.75 10.47% Table ... (14) and (16) in (11) , the generalized force Q will be computed as: Q = T m − ΓµbF N − K f ˙ φ − bS δ ρC d A 2 ( (b + r) ˙ θS δ + ν ) 2 (17) Using (17) and substituting T and V from (...

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... 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 ... the scans landmarks are extracted from scans and used in the estimation of the robot’s and landmarks’ position, and this estimate is then sent to the fusion server. Any type...

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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 ... Gaussian particle filters (solid line) and standard particle filters (dashed line) measurements and send it to a fusion server, which in turn calculates the prediction step and feed...

Ngày tải lên: 11/08/2014, 21:22