文档介绍：Multi-Arm Cooperating Robots
International Series on
MICROPROCESSOR-BASED AND
INTELLIGENT SYSTEMS ENGINEERING
VOLUME 30
Editor
Professor S. G. Tzafestas, National Technical University of Athens, Greece
Editorial Advisory Board
Professor C. S. Chen, University of Akron, Ohio, .
Professor T. Fokuda, Nagoya University, Japan
Professor F. Harashima, University of Tokyo, Tokyo, Japan
Professor G. Schmidt, Technical University of Munich, Germany
Professor N. K. Sinha, McMaster University, Hamilton, Ontario, Canada
Professor D. Tabak, e Mason University, Fairfax, Virginia, .
Professor K. Valavanis, University of Southern Louisiana, Lafayette, .
Multi-Arm Cooperating
Robots
Dynamics and Control
edited by
. ZIVANOVIC
Robotics Center,
Mihajlo Pupin Institute, Belgrade,
Serbia and Montenegro
and
. VUKOBRATOVIC
Robotics Center,
Mihajlo Pupin Institute, Belgrade,
Serbia and Montenegro
A . Catalogue record for this book is available from the Library of Congress.
ISBN-10 1-4020-4268-X (HB)
ISBN-13 978-1-4020-4268-3 (HB)
ISBN-10 1-4020-4269-8 (e-book)
ISBN-13 978-1-4020-4269-0 (e-book)
Published by Springer,
. Box 17, 3300 AA Dordrecht, herlands.
Printed on acid-free paper
All Rights Reserved
© 2006 Springer
No part of this work may be reproduced, stored in a retrieval system, or transmitted
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Printed in herlands.
TABLE OF CONTENTS
LIST OF FIGURES ix
PREFACE xi
1. INTRODUCTION TO COOPERATIVE MANIPULATION 1
Cooperative Systems – Manipulation Systems 1
Contact in the Cooperative Manipulation 4
The Nature of Contact 4
Introducing Coordinate Frames 7
General