Advances in robotic systems. Part 1 of 2 - download pdf or read online

By Leondes, Cornelius T

ISBN-10: 0120127393

ISBN-13: 9780120127399

Meant for engineers, electric engineers and keep an eye on engineers, this e-book offers insurance of the newest advances in robot platforms, from the applying of neural networks to robotics

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Additional resources for Advances in robotic systems. Part 1 of 2

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T h e work of Kawato et al [17] also attempted to reduce convergence time b y decomposing the dynamical equations into a large number of subsystems. The method proposed b y [3] is based on decomposing the dynamic equations into their basic component relations, training on these simpler relations and then recomposing to obtain the complete input- output mapping. Thus, with reference to the general dynamics equation ( 3 2 ) , the torque can b e decomposed into terms which represent the Cartesian acceleration, the Coriolis and centripetal torques, the gravitational effects and the torques due to damping.

Path Planning of A Polyhedral Object The path planning algorithm developed for a point object can be eas- ily extended to the case of a polyhedral object. However, there are two distinctive features to be considered in the path planning of a polyhedral object: First, for an object with volume, rotation as well as translation can occur along the path. Thus, in order to represent the exact configuration of the object, the orientation as well as the position should be specified. Second, it is necessary to consider a number of object points to compute the collision penalty at of the o b j e c t .

The general form of the dynamics equation can be expressed a citecrai: τ = Μ{θ)θ + τΏ(θ, θ) + τ3{θ) + τ}{θ, θ) (30) 31 APPLICATIONS OF NEURAL NETWORK TO ROBOTICS where r is the torque vector, M ( 0 ) is the mass matrix, τν(θ,θ) a vector of centrifugal and Coriolis terms, τ9(θ) is is a vector of gravity terms and Tf(6,6) is a vector of friction terms. The acceleration is often specified in Cartesian coordinates. In order to relate the Cartesian acceleration to the joint acceleration, we return to the kinematic relationship X = ί(θ) and differentiate it twice with respect to time, obtaining χ = 3{θ)θ + Η(θ)θ (31) where H ( 0 ) , the matrix of second derivative is known as the Hessian.

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Advances in robotic systems. Part 1 of 2 by Leondes, Cornelius T

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