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Minimalist Mobile Robotics
book

Minimalist Mobile Robotics

by Jonathan H. Connell
December 2012
Intermediate to advanced content levelIntermediate to advanced
192 pages
7h 37m
English
Morgan Kaufmann
Content preview from Minimalist Mobile Robotics
3.4 Controlling the arm locally
55
special case in which both open and close are stimulated, the
hand should stay in the same place.
open close finger action "velocity"
0 0 don't care undefined
0 1 squeeze together +1
1 0 draw apart -1
1 1 stay put 0
To see how this achieves the desired effect, suppose that the
fingers are closing but the force is too high. Because the gripper
is squeezing, initially open is false and close is true. However,
when the CRUSH module kicks in it forces open to become
true as well. According to the semantics defined above, this
combination instructs the fingers to stay exactly where they are.
Thus,
the force regulatio ...
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Publisher Resources

ISBN: 9780080511719