Download Advanced Robotics: 1989: Proceedings of the 4th by M. Kaneko, K. Yokoi, K. Tanie (auth.), Kenneth J. Waldron PDF

By M. Kaneko, K. Yokoi, K. Tanie (auth.), Kenneth J. Waldron (eds.)

The Fourth overseas convention on complex Robotics used to be held in Columbus, Ohio, U. S. A. on June thirteenth to fifteenth, 1989. the 1st meetings during this sequence have been held in Tokyo. The 3rd used to be held in Versailles, France in October 1987. The overseas convention on complex Robotics is affiliated with the overseas Federation of Robotics. This convention was once backed via The Ohio nation collage. the yankee Society of Mechanical Engineers used to be a cooperating co-sponsor. the target of the overseas convention on complex Robotics is to supply a world alternate of data regarding complex robotics. This used to be followed as one of many subject matters for foreign examine cooperation at a gathering of representatives of 7 industrialized international locations held in Williamsburg, U. S. A. in may possibly 1983. the current convention is actually overseas in personality with contributions from authors of twelve nations. (Bulgaria, Canada, France, nice Britain, India, Italy, Japan, Peoples Republic of China, Poland, Republic of China, Spain, usa of America.) the subject material of the papers is both assorted, masking so much technical parts of robotics. The authors are special. they're leaders within the box of their respective international locations. The foreign convention on complex Robotics has constantly relatively inspired papers orientated to the layout of robot structures, or to analyze directed at complicated functions in provider robotics, building, nuclear energy, agriculture, mining, underwater structures, and area systems.

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Additional info for Advanced Robotics: 1989: Proceedings of the 4th International Conference on Advanced Robotics Columbus, Ohio, June 13–15, 1989

Sample text

In the beginning, type "SEGMO;" to initiate the system, then a menu appear in the screen. Users may start from "(1) INPUT" sub-function. Figure 4 shows the flow chart of SEGM. According to the user's choice, the direct/inverse kinematic, the Jacobian/inverse Jacobian, and the dynamic (joint torque) equations can be output in the FORTRAN code from SEGM. Those FORTRAN codes listings are shown in Appendix B. The output from SEGM have been verified using numerical calculation. Table 2 shows the numerical results of Aeq from direct kinematic equation.

When n > m, pseudo-inverse techniques [1] can be used to select a solution to (3) from the infinity of possible solutions. A general solution to (3) is: (4) J~(q) = WJT(q)(J(q)WJT(q»-1 is a weighted pseudo-inverse of the manipulator Jacobian matrix which instantaneously minimizes the symmetric weighted quadratic form qTW-Iq at configuration q. The term (1- J~(q) J(q» projects an arbitrary n x 1 vector, y, onto the null space of the manipulator Jacobian matrix. Physically, any motion in the null space is an instantaneous motion of the manipulator joints which causes no motion of the end-effector.

In the simple 7R example, when joint axis 7 aligns with link 4, the manipulator self-motion no longer involves the major joint axes, and consequently, in this configuration the manipulator is not able to avoid obstacles. For this simple 7R geometry, this change in self-motion geometry could be found by inspection. However, for more complicated geometries, these types of changes in global behavior are not as easily discerned by inspection, and the methods outlined in this paper are useful for investigating these kinds of global behavior changes for redundant manipulators with complicated geometries.

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