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Fig. 3.9 Continuous sequence of batting motion (close view) [10]
1.5
0
1
-5
0.5
0
-10
initial velocity
limit velocity
modified velocity
initial torque
limit torque
-0.5
modified torque
-15
-1
-20
-1.5
0
0.2
0.4
0.6
0.8
1
0
0.2
0.4
0.6
0.8
1
time [s]
time [s]
(b) Torque response
(a) Velocity response
Fig. 3.10 Time response of velocity and torque [10]
trajectory is switched to the other polynomial trajectory of the follow-through at the
hitting time. This problem is solved by generating a function with consideration to
the jerk.
3.3
Tool Manipulation by Visual Servoing
One of the dexterous tasks of a human hand is tool manipulation. A human hand can
operate many types of tools. The tool manipulation is more difficult than the typical
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