tailieunhanh - Multi-Arm Cooperating Robots- Dynamics and Control - Zivanovic and Vukobratovic part 14

Tham khảo tài liệu 'multi-arm cooperating robots- dynamics and control - zivanovic and vukobratovic part 14', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 248 Multi-Arm Cooperating Robots NF ZU. Figure 48b. General motion - tracking Y0 and F0 a daN Cooperative System Control 249 cooperative system controlled by applying the control laws for tracking the nominal trajectory of the manipulated object MC and the followers nominal contact force are given under the title NPZU_F and presented graphically in Figures 46a and 46b for the gripping phase and in Figures 48a and 48b for the general motion. In the diagrams the required and realized trajectories are superimposed. It can be concluded that both control laws ensured high-quality tracking of the nominal trajectories. 7 CONCLUSION LOOKING BACK ON THE PRESENTED RESULTS An Overview of the Introductory Considerations In the introductory chapters of this monograph Chapters 1 2 and 3 we have shown that kinematic uncertainty is not essentially a problem of cooperative manipulation whereas the problem of determining the real distribution of the contact forces that arise as a consequence of the action of the weight and dynamic forces of the manipulated object known in the literature as force uncertainty is practically the basic problem of cooperative manipulation. By analyzing the cooperative system s properties in the state of rest it was concluded that the cooperative system at rest can be considered as a statically undetermined spatial grid. Distribution of forces in such a grid cannot be solved if its elastic properties are neglected. The impossibility of finding the real load distribution from the object onto contact forces is a consequence of neglecting the elastic properties of the cooperative system in the part where this distribution is realized 8 . None of the proposed criteria for solving force uncertainty in rigid 12-17 19 20 or elastic 1 3-5 18 cooperative systems could yield the solution of the real distribution of the loads involved. It should be noticed that kinematic uncertainty and contact force uncertainty do not exist as a problem if the .