Read e-book online Introduction to Autonomous Manipulation: Case Study with an PDF

By Giacomo Marani, Junku Yuh

ISBN-10: 3642546129

ISBN-13: 9783642546129

ISBN-10: 3642546137

ISBN-13: 9783642546136

“Autonomous manipulation” is a problem in robot applied sciences. It refers back to the strength of a cellular robotic method with a number of manipulators that plays intervention initiatives requiring actual contacts in unstructured environments and with out non-stop human supervision. attaining self reliant manipulation power is a quantum bounce in robot applied sciences because it is at present past the cutting-edge in robotics.

This ebook addresses concerns with the complexity of the issues encountered in self sustaining manipulation together with illustration and modeling of robot buildings, kinematic and dynamic robot regulate, kinematic and algorithmic singularity avoidance, dynamic job precedence, workspace optimization and surroundings conception. extra improvement in self sufficient manipulation can be in a position to offer strong advancements of the ideas for all the above matters. The e-book presents an in depth tract on sensory-based self reliant manipulation for intervention initiatives in unstructured environments. After offering the theoretical foundations for kinematic and dynamic modelling in addition to task-priority dependent kinematic regulate of multi-body structures, the paintings is concentrated on some of the most complex underwater vehicle-manipulator method, SAUVIM (Semi-Autonomous Underwater motor vehicle for Intervention Missions). ideas to the matter of aim identity and localization are proposed, a couple of major case reports are mentioned and useful examples and experimental/simulation effects are awarded. The booklet may well encourage the robotic examine neighborhood to extra examine serious matters in self sufficient manipulation and to strengthen robotic structures which may profoundly influence our society for the better.

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Additional resources for Introduction to Autonomous Manipulation: Case Study with an Underwater Robot, SAUVIM

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B,1) (B,1) (1,2) ψ · · · 1,k1 ψ (B,2) (B,2) (1,2) ψ · · · 1,k1 ψ . . . . B,k B B,k B B,k B (1,1) ψ (1,2) ψ · · · 1,k1 ψ . . (B,1) (2,1) ψ (B,2) (2,1) ψ . . . . . (B,1) (B,1) (2,2) ψ · · · 2,k2 ψ (B,2) (B,2) (2,2) ψ · · · 2,k2 ψ . . . . . B,k B B,k B B,k B (2,1) ψ (2,2) ψ · · · 2,k2 ψ ··· B,k B B,k B (B,1) ψ (B,2) ··· 0 ⎤ ··· 0 ⎥ ⎥ ⎥ . .. ⎥ ⎥ . ⎥ ⎥ ⎥ ··· 0 ⎥ ⎥ ⎥ ··· 0 ⎥ ⎥ ⎥ ··· 0 ⎥ ⎥ ⎥ ⎥ . .. ⎥ . ⎥ ⎥ ··· 0 ⎥ ⎥ ⎥ ⎥ ··· 0 ⎥ ⎥ ⎥ . .. ⎥ . 161) Despite the apparent complexity due to a massive presence of indexes, the matrix can be obtained through a simple recursive algorithm, obtained extrapolating the previous example.

B,1) (B,1) (1,2) ψ · · · 1,k1 ψ (B,2) (B,2) (1,2) ψ · · · 1,k1 ψ . . . . B,k B B,k B B,k B (1,1) ψ (1,2) ψ · · · 1,k1 ψ . . (B,1) (2,1) ψ (B,2) (2,1) ψ . . . . . (B,1) (B,1) (2,2) ψ · · · 2,k2 ψ (B,2) (B,2) (2,2) ψ · · · 2,k2 ψ . . . . . B,k B B,k B B,k B (2,1) ψ (2,2) ψ · · · 2,k2 ψ ··· B,k B B,k B (B,1) ψ (B,2) ··· 0 ⎤ ··· 0 ⎥ ⎥ ⎥ . .. ⎥ ⎥ . ⎥ ⎥ ⎥ ··· 0 ⎥ ⎥ ⎥ ··· 0 ⎥ ⎥ ⎥ ··· 0 ⎥ ⎥ ⎥ ⎥ . .. ⎥ . ⎥ ⎥ ··· 0 ⎥ ⎥ ⎥ ⎥ ··· 0 ⎥ ⎥ ⎥ . .. ⎥ . 161) Despite the apparent complexity due to a massive presence of indexes, the matrix can be obtained through a simple recursive algorithm, obtained extrapolating the previous example.

52) where ξ is a constant. The latter is obtained by considering that: cos (ξ) = k3 · i0 sin (ξ) = k3 · j 0 hence: ξ = arg k3 · j 0 , (k3 · i0 ) . 8 The Transformation Matrix After considering the transformation of free geometric vectors, let’s now introduce the change of reference system for points in the Euclidian space. Given a point P, its projection on the frames a and b , visualized in Fig. 1 Geometry 19 ka k0 ja Oa O0 kb j0 a <0> P ia b i0 P Ob P ib jb Fig. 56) can be expressed in a compact form by introducing the following notation.

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Introduction to Autonomous Manipulation: Case Study with an Underwater Robot, SAUVIM by Giacomo Marani, Junku Yuh


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