Advances in Robot Manipulators Part 1 pot

... alloy clamping devices of a capsule for monitoring tasks in the gastrointestinal tract, Journal of Micromechanics and Microengineering 15 (11 ): 2045–2055. Nakamura, Y. (19 91) . Advanced robotics, ... amplifier Advances in Robot Manipulators2 1. Introduction Robotics has increasingly become accepted in the past 20 years as a viable solution to many applications in surgery, particular...

Ngày tải lên: 21/06/2014, 06:20

... closed chains consisting of leg 1, leg r, the base and the platform, for r = 2,. . ., 6 as follows: exp (q 11 X 11 ) exp(q 12 X 12 ) exp(q 13 X 13 ) exp(q 14 X 14 + q 15 X 15 + q 16 X 16 ) · exp(−q r4 X r4 −q r5 X r5 −q r6 X r6 ) ... q 1 + b cos(q 1 + q 2 ) + c cos(q 1 + q 2 + q 3 ) + d cos(q 1 + q 2 + q 3 + q 4 ) = 0 (13 ) a sin q 1 + b sin(q 1 + q 2 ) +...

Ngày tải lên: 21/06/2014, 06:20

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Ngày tải lên: 21/06/2014, 06:20

... 2 010 ): T (s)= ( s/aζω n ) +1 s 2 /ω 2 n + 2ζ(s/ω n ) +1 . (7) 4 Advances in PID Control free online editions of InTech Books and Journals can be found at www.intechopen.com 4 PID Control 0 5 10 15 1 −0.5 0 0.5 1 1.5 Time [s] Step ... terms T n (s)=T 1 (s)+T 2 (s), (9) = 1 s 2 + 2ζs + 1 + 1 aζ s s 2 + 2ζs + 1 , (10 ) where T 1 (s) can be viewed as the original ter...

Ngày tải lên: 19/06/2014, 12:20

... recalling 11 1 CrC    from Eq. (2.24), it can be found that 11 1 (1) 0 r rR C    (2.28) For nontrivial solutions, 11 () 1 0 r Fs rR   (2.29) which is the characteristic equation in ... string before terminating its expansion at the boundaries where 11 1 CrC    nnn CrC    (2.24) ir C  il C  ir R il R il C  nl R n C  (1) ir C   1 C  (1) ir...

Ngày tải lên: 19/06/2014, 19:20

... simulator are tested in X direction and in Y direction respectively. 10 -1 10 0 10 1 10 2 -15 -10 -5 0 dB Frequency, Hz 10 -1 10 0 10 1 10 2 -200 -10 0 0 Φ, deg Frequency, ... diagram in X direction 10 -1 10 0 10 1 10 2 -6 -4 -2 0 dB Frequency, Hz 10 0 10 1 10 2 - 200 - 10 0 0 Φ, deg Frequency, Hz Fig. 40. Bode di...

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Ngày tải lên: 20/06/2014, 11:20

... personal computer and programming in high level. 5 Advances in Robot Manipulators7 2 Fig. 23. Manipulability index - Wd = [1, 1, 1, 1, 1, 1, 1, 10 0, 10 0]. In all three cases, the manipulability ... joint values of all robot points in the existing robot program by solving the robot s inverse kinematics equations with the identified robot joint parameters. Adv...

Ngày tải lên: 21/06/2014, 06:20

... 1. 1 Arrange parts into tray Plan 1. 1: Do 1. 1 .1 then 1. 1.2 then exit 1. 1 .1 Retrieve part container // 1. 1.2 Grab part from container // 2 Assemble cables on connector Plan 2: Repeat 2 .1 ... 1. 1 Arrange parts into tray Plan 1. 1: Do 1. 1 .1 then 1. 1.2 then exit 1. 1 .1 Retrieve part container // 1. 1.2 Grab part from container // 2 Assemble cables on...

Ngày tải lên: 21/06/2014, 06:20

... 416 -4 21 Tomei, P. (19 91) . A simple PD controller for robots with elastic joints, IEEE Transactions on Automatic Control, Vol. 36, No. 10 , 19 91, pp .12 08 -12 13, ISSN: 0 018 -9286 Utkin, V.I. (19 92). ... (Rad) 0 1 2 1. 5 1 −0.5 0 0.5 position tracking error of joint2 time (s) angular position (Rad) 0 1 2 −200 10 0 0 10 0 200 joint torque of joint1 time (s) torque (Nm) 0...

Ngày tải lên: 21/06/2014, 06:20