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Dynamics of Articulated Robots

Dynamics of Articulated Robots

Dynamics of Articulated Robots. Kris Hauser CS B659: Principles of Intelligent Robot Motion Spring 2013. Agenda. Basic elements of simulation Derive the standard form of the dynamics of an articulated robot in joint space

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747 views • 50 slides
Contact Mechanics

Contact Mechanics

Contact Mechanics. B659: Principles of Intelligent Robot Motion Spring 2013 Kris Hauser. Agenda. Modeling contacts, friction Form closure, force closure Equilibrium, support polygons. Contact modeling.

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608 views • 24 slides
Grasping 3D Grasp Quality Computations

Grasping 3D Grasp Quality Computations

Grasping 3D Grasp Quality Computations. B659: Principles of Intelligent Robot Motion Spring 2013 David Tidd. Grasp Quality. Given two different grasps, how can they be compared? Are they stable? -> Force closure How stable are they? -> Grasp quality metrics. c 1. c 1. c 3. c 3. c 2.

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520 views • 24 slides
Inverse Kinematics

Inverse Kinematics

Inverse Kinematics. Kris Hauser CS B659: Principles of Intelligent Robot Motion Spring 2013. q 2. q 1. Articulated Robot. Robot: usually a rigid articulated structure Geometric CAD models, relative to reference frames

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456 views • 22 slides
Real-Time Motion Planning

Real-Time Motion Planning

Real-Time Motion Planning. B659: Principles of Intelligent Robot Motion Spring 2013 Kris Hauser. Execution Issues. Paths are never executed exactly Disturbances, modeling errors Constraints change New information, unpredictable agents, user input Planning is not instantaneous.

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316 views • 17 slides

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