tailieunhanh - Multi-Arm Cooperating Robots- Dynamics and Control - Zivanovic and Vukobratovic Part 10

Tham khảo tài liệu 'multi-arm cooperating robots- dynamics and control - zivanovic and vukobratovic part 10', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Synthesis ofNominals 167 of the elastic system for which all displacements of nodes are equal to zero. Algorithm to calculate the nominal motion in gripping for the conditions given for the manipulated object MC Step 1. Equations 217 are formed for the static conditions of the elastic system equilibrium. Displacement of the manipulated object MC is known y0 0 and if the necessary displacements of contact points yC are known the forces at all nodes of the elastic system at the end of gripping FC and F o are calculated from 217 . Step 2. If the displacements of contact points at the end of the gripping phase are not known for the condition of the immobile MC of the manipulated object y0 0 displacements of contact points at the end of gripping ycs are determined from 218 as a function of the given forces Fsec Gc Fj as independent variables. Step 3. This step exists if the exactly determined force at the manipulated object MC at the end of the gripping phase is required. Then it is necessary to do the following To request the force Fse0 at the manipulated object MC at the end of the gripping phase . F Go . To determine displacement of the leader s contact point yj from 219 as a function of the displacements of the contact points of the manipulators followers yj and forces at the manipulated object MC Fe 0. To determine the forces at the contact points of the leader and followers according to 221 as a function of the displacements of the contact points of the followers yss and required forces at the MC of the manipulated object Fes0 whereby the quantities yss and Fes0 must be given as independent variables. If instead of the displacement yj the forces at the contact points of the followers Fess are given as independent variables then all the displacements of contact points yj yj and force at the leader s contact point F v are calculated from 222 as a function of the forces F and Fse0 given as independent variables. In the first three steps all the quantities .