Industrial Robotics (Theory, Modelling and Control) - P8 docx

... Kinematic Control B Base-1 G A Base-2 A G T T X-Table G A AG TTT GW-2GW-1 TTT SL-2 SL-3 TTT Moving Platform T End Effecter Base-2 Y-Table Moving Platform End Effecter Sliding-Leg (SL) Figure ... Industrial Robotics: Theory, Modelling and Control International Conference on Robotics and Automation, Vol. 1, pp. 54 3-5 48, (1997). G. Pritschow, and K H. Wurst, “Systematic...

Ngày tải lên: 21/06/2014, 15:20

... body, sensor and AI-based soft- ware has produced not only advanced industrial robots, but non -industrial robots ranging from entertainment and home to a variety of health-related ro- bots, we ... re- search work. Industrial Robotics Theory, Modelling and Control V Contents Preface IX 1. Robotic Body-Mind Integration: Next Grand Challenge in Robotics 1 K. Kawamura, S....

Ngày tải lên: 21/06/2014, 15:20

... degrees. 1 θ 2 θ 3 θ 4 θ 5 θ 6 θ Sol. No. 1 -3 4.45 -1 63.09 64.67 86.12 -3 6.06 -1 30.97 Sol. No. 2 -3 4.45 -1 63.09 64.67 -8 5.75 31.73 58.63 Sol. No. 3 -4 7.14 -1 04.39 -7 2.4 19.01 -8 4.81 154.74 Sol. No. 4 -4 7.14 -1 04.39 -7 2.4 -1 60.03 ... -2 0.04 Sol. No. 5 104.39 -7 2.90 64.57 24.26 85.22 2.38 Sol. No. 6 104.39 -7 2.90 64.57 -1...

Ngày tải lên: 21/06/2014, 15:20

... 282 Industrial Robotics: Theory, Modelling and Control 5.3.2 Workspace characteristics Using the normalization technique in Eqs. (23) and (24), the dimensional pa- rameters 1 R , 2 R and 3 R ... (La- tombe, 1991; Fugimura, 1991; Tzafestas, 1999). These include hierarchical ar- chitectures that partition the robot’s functionalities into high-level (model and plan) and low-l...

Ngày tải lên: 21/06/2014, 15:20

... data in the z -direction. -4 75 -4 70 -4 65 -4 60 -4 55 -4 50 -4 45 -4 40 -4 35 -4 30 0 10 20 30 40 50 60 70 80 Time [s] Z-directional tool position [mm] 799 29 Joystick Teaching System for Industrial Robots ... is uni- quely specified in the image feature domain, there is a one-to-one mapping re- lationship between tc p and ȟ . Therefore, Eq.(7) is expres...

Ngày tải lên: 21/06/2014, 15:20

... to: n Distinguish between source-rooted and shared distribution trees n Identify the meaning of “push” and “pull” models and their association with dense and sparse mode multicast protocols ... fails and the packet is discarded. Copyright  2000, Cisco Systems, Inc. IP Multicast Distribution Trees and Control Protocols 2-3 7 Because both routers C and D are connecte...

Ngày tải lên: 11/12/2013, 14:15

... effector, plate, and base plate, and a two-DOF wrist. • The hexapod with six translatory axes for full spatial motion. At the extremities of the link, we find a universal joint and a ball -and- pocket joint. ... Definition and Applications of Industrial Robots Large efforts have been made to define an industrial robot and to classify its application by industrial branches so th...

Ngày tải lên: 17/12/2013, 13:15

... Queensland, and Lehigh Uni- versity. Dr. Coughanowr’s industrial experience includes process design and pilot plant at Standard Oil Co. (Indiana) and summer employment at Electronic Asso- ciates and ... Tuning and Process Identification 282 20 Control Valves 303 21 Theoretical Analysis of Complex Processes 318 . Part VI Sampled-Data Control Systems 22 Sampling and Z-Transforms 2...

Ngày tải lên: 22/12/2013, 21:18

... Don’t forget that forces on con- nected FBDs should have equal magnitudes, but opposite direc- tions. page 17 B- 7 2-7 0 C+ 6 9-6 7 C 6 6-6 3 C- 6 2-6 0 D+ 5 9-5 7 D 5 6-5 5 page 30 Figure 7 Gravity vector ... Modeling and Control Academic Unit:Padnos School of Engineering Semester:Fall 2000 Class Times:Lecture: 1-2 pm - Mon, Wed, Fri in EC312 Lab 1: 8-1 1am - Tues...

Ngày tải lên: 01/01/2014, 20:30

... displacement measurement. This real-time adaptive strategy adjusts for long-term electrode wear and provides a short-term weld-to-weld control to compensate for fit-up and surface oxide variations. ... M., Czechowski, J., D’Andrea, M. M., and Hogle, R. A., 1985, Closed-loop control systemm for three-phase resistance spot welding, Welding Journal, 64, 12, 26–30. Wu, G D., and Richardson...

Ngày tải lên: 23/01/2014, 06:20