Titlebook: Advances in Robot Control; From Everyday Physic Sadao Kawamura,Mikhail Svinin Book 2006 Springer-Verlag Berlin Heidelberg 2006 Grasping.Hum

提炼

FEAT

Adaptive Visual Servoing of Robot Manipulatorsoposed to estimate the unknown parameters and coordinates on-line. The asymptotic stability of the system under the control of the proposed method is rigorously proved by the Lyapunov theory with the nonlinear robot dynamics fully taken into account.

刀锋

Modularity, Synchronization, and What Robotics May Yet Learn from the Brainion for a general dynamical system to globally converge to a polyrhythm, i.e., a regime where multiple groups of fully synchronized elements coexist. Applications to some classical questions in robotics and systems neuroscience are discussed.

木质

Principle of Superposition in Human Prehensionapplied to a hand-held object. Indices of the two synergies have shown different changes following a perturbation. Generalization of the principle of superposition to human prehension is an important step towards understanding the principles of control of the human hand.

认为

NIB

Planning and Control of Robot Motion Based on Time-Scale Transformation in air and in water. It is difficult to model the hydrodynamic effect in the neighborhood of the robot when it moves in water. It is claimed that the difficulty on modeling is overcome if timescale transformation is applied. Finally, the usefulness of time-scale transformation is demonstrated through examination of some experimental results.

先兆

付出

Arctic

Jennifer Chu-Carroll,Michael K. Brown condition. A kinematic feedback controller and a dynamic feedback controller are introduced and shown to ensure stable motion initialization from kinematic singularities, as well as tracking of prescribed paths that pass through such singularities.

Indurate

Adelheit Stein,Jon Atle Gulla,Ulrich Thieltrol laws for robots with uncertainties in kinematics and dynamics. Lyapunov functions are presented for stability analysis of feedback control problems with uncertain kinematics. We shall show that the end-effector’s position converges to a desired position even when the kinematics and Jacobian matrix are uncertain.