Advances in Robot Manipulators Part 5 doc
Advances in Robot Manipulators Part 5 doc
... 2
−1 .5
−1
−0 .5
0
0 .5
position tracking error of joint2
time (s)
angular position (Rad)
0 1 2
−100
50
0
50
100
joint torque of joint1
time (s)
torque (Nm)
0 1 2
−200
− 150
−100
50
0
joint torque of joint2
time ... Lightweight Manipulators
Based on Sliding Mode Technique
Jingxin Shi, Fenglei Ni and Hong Liu
Institute of Robotics, Harbin Institute of Technology, Harbin,
Hilo...
Advances in Robot Manipulators Part 4 docx
... Get and place terminal on marking board //
5
Assemble metal plate
Plan 5: Do 5. 1 then 5. 2 then exit
5. 1 Secure cables on metal plate
5. 2 Set metal plate on marking board
5. 1
Secure cables ... design, Behaviour & Information Technology,
Vol. 26, pp. 499 -50 6
Advances in Robot Manipulators1 14
2. Human -Robot Collaboration in Manufacturing
2.1 Human -Robot Collab...
Advances in Robot Manipulators Part 7 docx
...
Phalanx
N/A 3 .5 3 .5 3 .5 N/A
Weight of
a Finger
11 .5 15. 5 15. 5 15 10 .5
Table 1. Weights of fingers of the robot hand
Finally, the tendon wired control configuration is introduced. In this study, ... gram
Thumb
Finger
Index
Finger
Middle
Finger
Ring
Finger
Little
Finger
Distal
Phalanx
4 3 .5 3 .5 3 .5 3 .5
Middle
Phalanx
4 4 4 4 4
Proximal
Phala...
Advances in Robot Manipulators Part 9 doc
... on Robotics and Automation
,
Vol. 18, pp. 2 85- 293.
Advances in Robot Manipulators3 16
The purpose of this paper is to examine the theory of robust learning for intelligent
machines. A main ... allowing
detecting the buckling and other non-liner effects.
This chapter focuses on the stiffness modeling of serial kinematic chains with passive joints,
which are widely used in parallel ro...
Advances in Robot Manipulators Part 15 docx
... takne into account in the
finite element modeling and analysis.
RoleofFiniteElementAnalysis in DesigningMulti-axesPositioningforRobotic Manipulators 57 3
Referring to Fig. 4, in relation ... Materials
Processing Technology 86: 17-44.
Manseur, R. (2006). Robot Modeling and Kinematics, Da Vinci Engineering Press,
Massachusetts, ISBN : 1 -58 450 - 851 -5.
Rahman, M. (2004...
Advances in PID Control Part 5 doc
... time varying parameters introduce more degrees of freedom in the
control design, and in principle more flexibility in shaping the control response. Time variant
PIDs can be designed according to ... restricted to linear time invariant systems, as in practice
most industrial plants can be represented in such a form, eventually after a linearisation
step around the desired operating po...
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): 20 45 2 055 .
Nakamura, Y. (1991). 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, particularl...
Advances in Robot Manipulators Part 3 pptx
... corresponding 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.
Advances in Robot Manipulators1 08
...
xyxyy
xzxyzxzxyzyz
xzxyzxzxyzyz
xyz
zzz
yyy
xxx
coscossincossin
sincoscossinsincoscos...
Advances in Robot Manipulators Part 6 ppt
...
CoordinateTransformationBasedContourFollowingControlforRoboticSystems 201
(a) (b)
Fig. 12. Performance of tracking and contouring.
0 0 .5 1 1 .5 2 2 .5 3 3 .5 4 4 .5 5
-0 .5
-0.4
-0.3
-0.2
-0.1
0
0.1
0.2
0.3
0.4
Time(s)
Torque ... Machine Tools & Manufacture, Vol.
2007, No. 10, 154 2- 155 5.
Advances in Robot Manipulators2 02
Peng, C. C. & Chen, C. L. (2007...
Advances in Robot Manipulators Part 11 pot
... points in the joint space of
3-RPR parallel manipulators, Proc. of the 2006 IEEE International Conference on Robotics
and Automation, pp. 777–782.
Advances in Robot Manipulators4 16
Advances in Robot Manipulators4 12
Even ... explained in
Section 6. Finally, concluding remarks are set in Section 7.
2. Modeling and Control of Industrial Robots
2.1 Kinematic and Dynamic Modeling
From a...
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