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Analysis and design of multi-arm robotic systems manipulating large objects.

by Ho Siu Yan. / Thesis (M.Phil.)--Chinese University of Hong Kong, 1995. / Includes bibliographical references (leaves 105-110). / ACKNOWLEDGEMENT --- p.i / ABSTRACT --- p.ii / NOMENCLATURE --- p.iii / TABLE OF CONTENTS --- p.v / LIST OF FIGURES --- p.vii / Chapter 1 --- INTRODUCTION --- p.1 / Chapter 2 --- FORM-CLOSURE GRASP --- p.9 / Chapter 2.1 --- Condition for Form-closure Grasp --- p.9 / Chapter 2.2 --- Construction of Form-closure Grasp --- p.12 / Chapter 2.3 --- Configuration Stability of Form-closure Grasp --- p.28 / Chapter 2.4 --- Determination of Object Frame from a Form-closure Grasp --- p.33 / Chapter 3 --- DYNAMIC MODEL OF MULTI-ARM SYSTEMS HANDLING ONE OBJECT --- p.36 / Chapter 3.1 --- System Description --- p.36 / Chapter 3.2 --- Manipulator Dynamics --- p.37 / Chapter 3.3 --- Object Dynamics --- p.37 / Chapter 3.4 --- Contact Forces --- p.38 / Chapter 3.5 --- Kinematic Relations --- p.40 / Chapter 3.6 --- Overall System --- p.41 / Chapter 3.7 --- Constraint Space Matrices --- p.42 / Chapter 3.8 --- Motion Space Matrices --- p.48 / Chapter 3.9 --- General Joint Model --- p.54 / Chapter 4 --- FORWARD DYNAMICS OF MULTI-ARM SYSTEMS HANDLING ONE OBJECT --- p.65 / Chapter 4.1 --- Previous Works --- p.65 / Chapter 4.2 --- Modified Approach --- p.69 / Chapter 4.3 --- Constraint Violation Stabilization Method --- p.73 / Chapter 4.4 --- Computation Requirement of the Algorithm --- p.75 / Chapter 5 --- CONCLUSION --- p.78 / Chapter 5.1 --- Future Researches --- p.79 / APPENDICES / Chapter A --- PROOFS AND DISCUSSIONS RELATED TO CHAPTER TWO --- p.81 / Chapter B --- IMPLEMENTATION OF THE ALGORITHM FOR DETERMINING THE OBJECT FRAME FROM A FORM-CLOSURE GRASP --- p.95 / Chapter C --- EXPRESSING WRENCHES WITH ZERO-PITCH WRENCHES --- p.96 / Chapter D --- IMPLEMENTATION OF THE PROPOSED SIMULATION ALGORITHM --- p.98 / REFERENCES --- p.105

Identiferoai:union.ndltd.org:cuhk.edu.hk/oai:cuhk-dr:cuhk_320646
Date January 1995
ContributorsHo, Siu Yan., Chinese University of Hong Kong Graduate School. Division of Systems Engineering and Engineering Management.
PublisherChinese University of Hong Kong
Source SetsThe Chinese University of Hong Kong
LanguageEnglish
Detected LanguageEnglish
TypeText, bibliography
Formatprint, v, 110 leaves : ill. ; 30 cm.
RightsUse of this resource is governed by the terms and conditions of the Creative Commons “Attribution-NonCommercial-NoDerivatives 4.0 International” License (http://creativecommons.org/licenses/by-nc-nd/4.0/)

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