Experimental Robotics VI - download pdf or read online

By Peter I. Corke, James Trevelyan

ISBN-10: 1852332107

ISBN-13: 9781852332105

This booklet offers the complaints of the sixth overseas Symposium on Experimental Robotics held in Sydney in March 1999. The editors and individuals signify the prime robotics learn efforts from world wide. Micro-machines, interplanetary exploration, minimally invasive surgical procedure and rising humanoid robots are one of the most blatant attainments of major robotics examine groups suggested during this quantity. much less visible yet both major are the elemental advances in robotic map-building and strategies of communique among people and machines which are proven via experimental effects. This selection of papers will give you the reader with a concise record at the present achievements and destiny traits in robotics study internationally.

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This system can rotate and translate objects by wrapping the rope around them and pulling on the rope in a coordinated fashion. T h e rope acts as both coupling and indirect communication medium in this system, much like the hands of a dancing couple. Manipulating objects with ropes has several advantages over the direct manipulation of an object using a team of robots [17, 8, 9]. First, the m e t h o d allows for the parallel and synchronized manipulation of multiple objects. ( T h a t is, several objects can be wrapped together).

6. C o n c l u s i o n We have developed an architecture for a team of robots which can pick up, carry, and lower different sized objects. Additional platforms can easily be added because each platform is responsible for its own safety and its precise 24 -1o -lj Figure 11. Forces (left) and m o m e n t (right) applied to the object with the stiffness controlled arm on robot 2. In spite o] the changes in the leader and the three transitions, the forces and m o m e n t are held relatively constant.

It is shown that a stiff arm in conjunction with a compliant arm is beneficial for both maintaining a large stiffness as well reducing unwanted forces due to platform positioning errors. As the platforms move, the force and position control problems are decoupled by allowing the position controlled robots to follow a desired path and adding an active arm which controls the internal forces. With a systematic design of each part of the system, we are able to robustly transport objects with our experimental system consisting of two or three different mobile manipulators.

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Experimental Robotics VI by Peter I. Corke, James Trevelyan


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