Complex robotic systems:
Saved in:
| Format: | Book |
|---|---|
| Language: | English |
| Published: |
London u.a.
Springer
1998
|
| Series: | Lecture notes in control and information sciences
233 |
| Subjects: | |
| Online Access: | Inhaltsverzeichnis |
| Physical Description: | XI, 177 S. Ill., graph. Darst. |
| ISBN: | 3540762655 |
Staff View
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| 245 | 1 | 0 | |a Complex robotic systems |c Pasquale Chiacchio ... (eds.) |
| 264 | 1 | |a London u.a. |b Springer |c 1998 | |
| 300 | |a XI, 177 S. |b Ill., graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
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Record in the Search Index
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| adam_text | Contents
Multi-arm robot systems: A survey
1
1.1
Introduction
........................... 1
1.2
Dynamics of multi-arm robots
................. 3
1.3
Derivation of task vectors
................... 6
1.3.1
External and internal forces/moments
........ 7
1.3.2
External and internal velocities
............ 8
1.3.3
External and internal positions/Orientations
.... 9
1.4
Hybrid position /force control
................. 10
1.5
Load sharing
.......................... 11
1.6
Practical implementation
................... 13
1.7
Advanced topics
........................ 18
1.7.1
Multi-flexible-arm robots
............... 18
1.7.2
Slip detection and robust holding
........... 22
1.8
Conclusions
........................... 26
References
............................... 27
Kinematic manipulability of general mechanical systems
33
2.1
Introduction
........................... 33
2.2
Differential kinematics and static force model
........ 35
2.2.1
Differential kinematics
................. 35
2.2.2
Force balance
...................... 39
2.3
Velocity and force manipulability ellipsoids
......... 41
2.3.1
Serial manipulators
................... 41
2.3.2
Velocity ellipsoid
.................... 42
2.3.3
Force ellipsoid
..................... 45
2.3.4
Configuration stability and manipulability
...... 47
2.3.5
Internal force and virtual velocity
........... 48
2.4
Illustrative examples
...................... 48
2.4.1
Simple two-arm example
................ 48
2.4.2
Planar Stewart platform example
........... 50
ix
CONTENTS
2.4.3 Six-DOF Stewart
platform
example
......... 53
2.5
Effects of arm posture and bracing on manipulability
.... 55
2.5.1
Effect of arm posture
.................. 55
2.5.2
Effect of bracing
.................... 59
2.5.3
Effect of brace location
................ 62
2.5.4
Effect of brace contact type
.............. 63
2.6
Comparison of manipulability ellipsoids
........... 66
2.7
Conclusions
........................... 73
References
............................... 76
Kinematic control of dual-arm systems
79
3.1
Introduction
........................... 80
3.2
Cooperative task description
................. 81
3.3
Differential kinematics
..................... 83
3.4
Inverse kinematics algorithm
................. 85
3.5
Cooperative system modeling
................. 87
3.6
Joint space control
....................... 89
3.7
Stability analysis
........................ 91
3.7.1
Imperfect compensation of gravity terms
....... 92
3.8
Addition of a force loop
.................... 94
3.9
Conclusions
........................... 95
References
............................... 95
Load distribution and control of interacting manipulators
99
4.1
Introduction
........................... 100
4.2
System description and dynamics
............... 102
4.2.1
System variables and coordinate frames
....... 102
4.2.2
Manipulator dynamics
................. 104
4.2.3
Object dynamics
.................... 105
4.3
A general framework for load distribution
.......... 106
4.3.1
Identifying motion inducing and internal stress com¬
ponents of
(ФК)
.................... 108
4.3.2
Choosing matrix
M
.................. 109
4.4
Modeling of kinematic coupling effects
............ 112
4.5
Derivation of rigid body model in joint space
........ 114
4.6
Reduced order model
......................
П7
4.7
Control architecture
...................... 120
4.8
Conclusions
........................... 121
cs
............................... 123
CONTENTS
Multi-fingered hands: A survey
129
5.1
Robot hand hardware
..................... 129
5.2
Key issues underlying multifingered manipulation
...... 1.32
5.2.1
Contact conditions and the release of constraints
. . 133
5.3
Ongoing research issues
.................... 134
5.3.1
Grasp synthesis
..................... 134
5.3.2
Grasp stability
..................... 135
5.3.3
The importance of friction
............... 136
5.3.4
Finger force distribution issues
............ 137
5.3.5
Varying contacts: Rolling and sliding
......... 139
5.3.6
Kinematics of rolling contact
............. 139
5.3.7
Grasp compliance and control
............. 141
5.4
Further research issues
..................... 143
5.5
Current limitations
....................... 144
5.6
Conclusions
........................... 145
References
............................... 145
Grasping optimization and control
161
6.1
Introduction
........................... 161
6.2
Grasp strategies
......................... 163
6.3
The TUM-hydraulic hand
................... 168
6.3.1
The design
....................... 168
6.3.2
Measurement and control
............... 169
6.4
Examples
............................ 172
6.5
Conclusions
........................... 175
References
............................... 177
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| discipline | Mathematik Fertigungstechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
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| genre_facet | Konferenzschrift 1997 Albuquerque NM |
| id | DE-604.BV011961559 |
| illustrated | Illustrated |
| indexdate | 2024-07-09T18:19:14Z |
| institution | BVB |
| isbn | 3540762655 |
| language | English |
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| series2 | Lecture notes in control and information sciences |
| spelling | Complex robotic systems Pasquale Chiacchio ... (eds.) London u.a. Springer 1998 XI, 177 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Lecture notes in control and information sciences 233 Controleleer gtt Robotica gtt Robotique ram Robots - Systèmes de commande ram Robotics Robots Control systems Roboterhand (DE-588)4236800-5 gnd rswk-swf Komplexes System (DE-588)4114261-5 gnd rswk-swf Industrieroboter (DE-588)4026861-5 gnd rswk-swf Mehrarmroboter (DE-588)4234433-5 gnd rswk-swf (DE-588)1071861417 Konferenzschrift 1997 Albuquerque NM gnd-content Industrieroboter (DE-588)4026861-5 s Komplexes System (DE-588)4114261-5 s DE-604 Mehrarmroboter (DE-588)4234433-5 s Roboterhand (DE-588)4236800-5 s Chiacchio, Pasquale 1963- Sonstige (DE-588)11815012X oth Lecture notes in control and information sciences 233 (DE-604)BV005848579 233 Digitalisierung TU Muenchen application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=008088683&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Complex robotic systems Lecture notes in control and information sciences Controleleer gtt Robotica gtt Robotique ram Robots - Systèmes de commande ram Robotics Robots Control systems Roboterhand (DE-588)4236800-5 gnd Komplexes System (DE-588)4114261-5 gnd Industrieroboter (DE-588)4026861-5 gnd Mehrarmroboter (DE-588)4234433-5 gnd |
| subject_GND | (DE-588)4236800-5 (DE-588)4114261-5 (DE-588)4026861-5 (DE-588)4234433-5 (DE-588)1071861417 |
| title | Complex robotic systems |
| title_auth | Complex robotic systems |
| title_exact_search | Complex robotic systems |
| title_full | Complex robotic systems Pasquale Chiacchio ... (eds.) |
| title_fullStr | Complex robotic systems Pasquale Chiacchio ... (eds.) |
| title_full_unstemmed | Complex robotic systems Pasquale Chiacchio ... (eds.) |
| title_short | Complex robotic systems |
| title_sort | complex robotic systems |
| topic | Controleleer gtt Robotica gtt Robotique ram Robots - Systèmes de commande ram Robotics Robots Control systems Roboterhand (DE-588)4236800-5 gnd Komplexes System (DE-588)4114261-5 gnd Industrieroboter (DE-588)4026861-5 gnd Mehrarmroboter (DE-588)4234433-5 gnd |
| topic_facet | Controleleer Robotica Robotique Robots - Systèmes de commande Robotics Robots Control systems Roboterhand Komplexes System Industrieroboter Mehrarmroboter Konferenzschrift 1997 Albuquerque NM |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=008088683&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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| work_keys_str_mv | AT chiacchiopasquale complexroboticsystems |