Embed Size (px)
Citation preview
300 250 200 150 100
80 0
350 300
250 200
150 100
80 0 100
200 300
400 500
(b)
350 300
250 200
150 100
80
0 0 100
200 300
400 500
Images Images
Images Images
0
50
100
150
200
250
300
Val
ues
(a)
50
100
150
200
250
300
Val
ues
100 200 300 400 500 600 Images
(b)
50
100
150
200
250
300
(a)
50
100
150
200
250
300 50 100 150 200 250 300 350 400 450 500
Images
(b)
Val
ues
Val
ues
100
200
300
400
Val
ues
(a)
Val
ues 100
200
300
400
(b)
100 200 300 400 500 600 Tools
Val
ues
100
200
300
400
(c)
20
40
60
80
100
Val
ues
5 20 Tools
(a)
20
40
60
80
100
Val
ues
20 40 60 80 100 Tools
(b)
50
100
150
200
250
300
350
400
50 100 150 200
Grip zone V
alue
s
20
40
60
80
100
120
140
160
180
Val
ues
20 40 60 80 100 120 Tools
(b)
20
40
60
80
100
120
140
160
180
Val
ues
(a)
20 40 60 80 100 120 Tools
20 40 60 80 100 120
(a)
20 40 60 80 100 120 Tools
20 40 60 80 100 120
20
40
60
80
100
120
140
160
180
Val
ues
Grip zone
Hand
Robot Table
XR0
Xm Xco
X0
xho Xc XR
YR0
Ym Yco
Y0
YR Yc
Symbol Small mainpulator
AU Arduino one 1 Servomotor 1 2 Servomotor 2 3 Servomotor 3 4 Servomotor 4
Pz
z
PX
θ1
X
X PX
(a)
θ2
Y (b)
Py
L1
PX
L3
L2
θ3 β
β
d
θ1 = 02
θ2 = 02
θ3 = 02
50
100
150
200
Val
ues
50
100
150
200
Val
ues
50
100
150
200
Val
ues
50
100
150
200 V
alue
s
(a) (b)
(c) (d)
100 200 300 100 200 300 Images Images
20
40
60
80
100
120
Val
ues
50
100
150
200
Val
ues
50 100 150
(a) (b)
20
40
60
80
Val
ues
20 40 60 80 Images
(c) 20 40 60 80 100 120
20
40
60
80
100
120
140
Val
ues
20
40
60
80
100
120
140
20 40 60 80 100 120 140 Images
(a)
(b)
Val
ues
20 40 60 80 100 120 140 Image
Val
ues
50
100
150
200
50
100
150
200
20 40 60 80
100 120 140
Val
ues
Val
ues
Val
ues
50
100
150
200
Val
ues
50
100
150
200
Val
ues
20 40 60 80
100 120 140
Val
ues
20 60 100
20 60 100 140
100 200 300 Shadows Shadows
(a) (b) (c)
(d) (e) (f) 100 200 300 100 200 300
100 200 300 Shadows
50
100
150
200
50
100
150
200
20 40 60 80
100 120 140
Val
ues
Val
ues
Val
ues
50
100
150
200
Val
ues
50
100
150
200
Val
ues
20 40 60 80
100 120 140
Val
ues
20 60 100
20 60 100 140
100 200 300
Images Images
(a) (b) (c)
(d) (e) (f) 100 200 300 100 200 300
100 200 300 Images
(a) (b)
(c) (d)
(e) (f)
(a) (b)
(a) (b)
(a) (b)
