By Xue Q., Maciejewski A.A., Sheu P.C.-Y.
The matter of course making plans for 2 planar robotic manipulators that cooperate in wearing an oblong item from an preliminary place and orientation to a vacation spot place and orientation in a 2-D setting is investigated. during this method, the 2 robotic hands, the carried item and the directly line connecting the 2 robotic bases jointly are modeled as a 6-link closed chain. the matter of direction making plans for the 6-link closed chain is solved by way of significant algorithms: the collision-tree possible configuration discovering set of rules and the collision-free course discovering set of rules. the previous maps the unfastened area within the Cartesian international area to the robot's joint area during which the entire collision-free possible configurations (CFFC's) for the 6-link closed chain are came upon. The latter builds a connection graph of the CFFC's and the transitions among any teams of CFFC's at adjoining joint durations. ultimately, a graph seek process is hired to discover a collision-free direction for every joint of the robotic manipulators. The proposed algorithms can take care of cluttered environments and is sure to discover a answer if one exists.
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Additional info for Determining the Collision-Free Joint Space Graph for Two Cooperating Robot Manipulators
Delta IV. The Delta IV is based on a CBC powered by a single, liquid oxygen-hydrogen, pump-fed RS-68 engine. There are several variants of the Delta IV. The Delta IV Medium (which replaces the Delta II) uses a CBC with a standard Delta II second stage and a 4-meter payload fairing. There are three versions of the “intermediate” Delta IV. The Delta IV M+(4, 2) combines the CBC with two strap-on solid rocket motors, an upper stage, and a 4-meter payload fairing. The Delta IV M+(5, 2) combines the CBC, two strap-on solid rocket motors, an upper stage, and a 5-meter payload fairing.
S. NSS launch vehicles used 13 14 National Security Space Launch Report today and in the foreseeable future. For the sake of consistency, we have categorized launch vehicles as follows: • • • • Small (Pegasus, Minotaur, and Taurus) Medium (Delta II) EELV (all Atlas V and Delta IV conﬁgurations that use a single common core) EELV Heavy (three common cores). )1 Lockheed Martin builds the Atlas V, and Boeing manufactures the Delta II and Delta IV. The Atlas V and the Delta IV, developed under the Air Force EELV program, had their initial ﬂights in 2002.
3. Delta IV will have the capability and production capacity to execute all projected EELV heavy-lift requirements (with the possible exception of a single NRO payload) through 2020. ” Discussion This chapter addresses relationships among satellites, launch vehicles, and NSS program decisions that aﬀect launch requirements and the ability to satisfy them. A great deal of attention has been focused on maintaining assured access to space and, as discussed in Chapter One, maintaining assured NSS service.