Last edited by Volkis
Saturday, February 8, 2020 | History

2 edition of Instantaneous robot motion with contact between surfaces found in the catalog.

Instantaneous robot motion with contact between surfaces

Chunsheng Cai

Instantaneous robot motion with contact between surfaces

  • 295 Want to read
  • 38 Currently reading

Published by Dept. of Computer Science, Stanford University in Stanford, CA .
Written in English

    Subjects:
  • Automatic control.,
  • Control theory.,
  • Kinematics.,
  • Robots -- Dynamics.,
  • Robots -- Motion.

  • Edition Notes

    Statementby Chunsheng Cai.
    SeriesReport / Stanford University. Computer Science Dept. ;, no. STAN-CS-88-1191, Report (Stanford University. Computer Science Dept.) ;, no. STAN-CS-88-1191.
    ContributionsStanford University. Computer Science Dept.
    Classifications
    LC ClassificationsMLCM 92/12582 (Q)
    The Physical Object
    Paginationx, 173 p. : ill.
    Number of Pages173
    ID Numbers
    Open LibraryOL2233744M
    LC Control Number89102288
    OCLC/WorldCa19244584

    Instead, additional active vibration reduction or video camera stabilization systems are installed in the robots. An office chair can be moved directly to any point of the plane and oriented in any direction. The proposed method is able to control the rotational and translational velocity simultaneously within the framework of FPM. Since the parts cannot interpenetrate the relative rotation center must also be along the normal direction to the contact and through C. However, when the steering angle is non-zero, the robot changes orientation, and its linear velocity with it, allowing the robot's configuration to span a three-dimensional space. However, ruled surfaces are still widely used in many areas in modern surface modelling systems.

    The points in the fixed plane that correspond to these instant centers is the line of the road, which defines the fixed centrode. One can conceive of more applications for these components in cars. The positional variation and the angular variation of the rigid body are determined from the curvature theory of a ruled surface. Chapter 8: Feedback Motion Planning Navigation functions, smooth manifolds, vector fields, numerical potential functions, optimal navigation functions, compositions of funnels, dynamic programming on continuous spaces. Configuration space of a point-sized robot. The robot faces left.

    This activity is for readers who have good construction skills and an appropriate robotics kit. Operating them manually is difficult, especially when the video camera vision is limited. Therefore, a spherical pair removes three degrees of freedom in spatial mechanism. In our example, the book would not be able to raise off the table or to rotate into the table.


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Instantaneous robot motion with contact between surfaces by Chunsheng Cai Download PDF Ebook

Two rigid bodies that are part of this kind of system will have an independent translational motion along the axis and a relative rotary motion around the axis. Simplification heuristics make only local plans, by breaking Instantaneous robot motion with contact between surfaces book problem into subproblems.

Alternatively, send commands to the motors using a remote control device or a computer connected to the robot. There are situations where a redundant system is required because the task could not be performed with fewer actuators.

They can directly access two DOF: a if both wheels turn at the same speed, the robot moves forwards or backwards; b if the wheels have speeds in opposite directions, the robot rotates in place. Consequently, to enable wide-robots to avoid obstacles safely and efficiently, it is necessary to control not only the translational movement but also the rotational movement.

They are much harder to deal with in a planner than holonomic constraints. The robot and obstacle geometry is described in a 2D or 3D workspace, while the motion is represented as a path in possibly higher-dimensional configuration space.

First, forward kinematics determine the position of the robot's geometry, and collision detection tests if the robot's geometry collides with the environment's geometry. In fact, an accident can occur when rain or snow reduce the friction so that the car can skid or rotate. Furthermore, the number of points on the grid grows exponentially in the configuration space dimension, which make them inappropriate for high-dimensional problems.

Principles of Robot Motion

By examining Fig. The results showed the efficacy of the solution. It's beyond the scope of the question, unfortunately.

The important observation is that the complexity of path planning increases exponentially with the dimension of the configuration space.

This method realizes some tasks in dynamic environment by fuzzy calculation about desire for each direction of the robot. However, these are heavy handed fixes for what is likely a small problem.

The reduced tensions presented in Fig. Nonholonomic constraints restrict the geometry of the feasible free paths between two configurations.

Please check this function's description in the Reference Manual. While the positioning is precise, these joints do not have the broad range of the mobile base.

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Therefore, we can directly access the DOF along the forward axis of translation and the DOF of the heading, but we cannot directly access the DOF of the lateral axis of translation Fig. The rotations are called: a pitch: the nose moves up and down; b roll: the body rotates around its lengthwise axis; c yaw: the body rotates left and right around the axis of its rotor.

In our current research, wide-robots with omni-directional platform have been employed, as shown in Fig.An Instantaneous Screw Kinematic Analysis of Parallel Robots.

Instantaneous robot motion with contact between surfaces book links presented an effective method to analyse multi-loop parallel robot's motion, and established the kinematic relation formulas between inputs and outputs. Now a effective method is presented to analyse parallel robot's motion in this paper.

INSTANTANEOUS SCREWS AND Author: Yan Jun, Huang Zhen. 6. We can formally describe the robot behavior as follows: (a) If the robot is moving in a curve, there is a center of that curve at that moment, known as the Instantaneous Center of Curvature (or ICC).

We talk about the instantaneous center, because we’ll analyze this at each instant- the curve may, and probably will, change in the next moment.

This book presents a unified treatment of many different kinds of planning algorithms. The subject lies at the crossroads between robotics, control theory, artificial intelligence, algorithms, and computer graphics.The degree of difficulty of motion planning in robots varies greatly depending pdf a couple of factors: whether all information regarding the obstacles (i.e.

sizes, locations, motions, etc.) is known before the robot moves and whether these obstacles move around or stay in place as the robot moves.Robot Motion Analysis - Kinematics Kinematics Analysis We are made of download pdf, muscles and senses.

We control using muscles and measure with senses: touch, vision, etc. Robots are built with links and joints in various configurations.

Robot without intelligence can only control and measure the joints directly, such as rotate joint 1 for pulses."Kinematic Ebook of a Skid-Steer Mobile Robot Operating on Non-Planar Surfaces." Proceedings of ebook ASME International Design Engineering Technical Conferences or making use of a set of differential equations describing the instantaneous motion of the contact point between non-planar surfaces.

Book Proposal Guidelines; Resources Author: Joshua Qualls, Stephen Canfield, Alexander Shibakov, Tristan Hill.