Download Advances in Robot Control: From Everyday Physics to by Suguru Arimoto (auth.), Professor Sadao Kawamura, Mikhail PDF

By Suguru Arimoto (auth.), Professor Sadao Kawamura, Mikhail Svinin Doctor (eds.)

This quantity presents a different number of papers written in honor of the seventieth birthday of Suguru Arimoto who has lengthy been famous as a pioneer within the box of robotic keep an eye on. quite a few his study is mirrored during this e-book, together with contributions from major specialists within the box, who've additionally been heavily linked to Suguru Arimoto at a number of phases in his distinct occupation. The ebook is construct round topics: the physics-based robotic regulate for dealing with the so-called daily physics difficulties on one hand, and the problem of reproducing attractive, human-like activities nevertheless. those subject matters outlined a lot of Arimoto’s study within the box of robotic keep watch over and are the cornerstones of his conception of human robotics. themes lined within the ebook tackle usual movement and adaptive regulate of robotic manipulators, visible servoing, passivity-based and iterative studying keep an eye on, synthetic potentials for nonholonomic platforms, strength regulate of haptic units and muscle-activated platforms, modeling and research of human-like events in attaining and greedy projects. each one bankruptcy is self-contained and treats the topic cohesively and intensive. This quantity will supply an incredible reference for graduate scholars and researchers, in addition to for engineers and scientists operating within the box of robotics.

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In 2006 we at last succeeded in the derivation of a mathematical model, faithfully expressing the dynamics of 3-D object grasping and manipulation under the gravity effect and nonholonomic constraints. Now, we see that even a pair of 3-D robot fingers can grasp a 3-D object stably without exactly knowing the object kinematics and without using any external sensing. A robot hand can grasp an object in a blind manner, just like a human does with his or her eyes closed. z L q11 x q21 q12 O1 O2 q20 q13 q22 y Opposition axis Fig.

IEEE Int. Conf. on Robotics and Automation, Minneapolis, Minnesota 3147–3154 18. Nenchev D (1995) Tracking manipulator trajectories with ordinary singularities: a null space based approach. The International Journal of Robotics Research 14(4):399–404 19. Nenchev D, Tsumaki Y, Uchiyama M (1994) A telerobotic system with singularity consistent behaviour. In: Proc. Fifth Int. Conf. on Adaptive Structures, Sendai, Japan 501–510 20. Tsumaki Y, Nenchev D, Kotera S, Uchiyama M (1997) Teleoperation based on the adjoint Jacobian approach.

18 Dragomir N. 2 Dynamic Analysis of Natural Motion We consider again the special case of natural motion b = const4 . Then, the ˙ (q)n(¯ force component bM q ) becomes zero, and the equation of natural motion can be written as: bA(¯ q )n(¯ q ) + g(q) = τ + τ e . (31) ˙ (q)n(¯ The force component bM q ) just removed is in the direction of generalized momentum. Note also that this force component results from the nonintegrable joint acceleration. The input power of natural motion is derived from Eq.

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