Advances in robot manipulators 2 ppt

... that index stays farther from singularity. Fig. 24 . Manipulability index – using only Pseudo inverse in an extreme case. Advances in Robot Manipulators8 2 In robot programming, the robot ... 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....

Ngày tải lên: 21/06/2014, 06:20

...            0sinllm sinllmsinllm2 21 2c 12 222 c 122 22c 12     C ,                    21 2c2 21 2c1 121 1c1 cosglm coslcoslgmcosglm   G where             2 iiiici 2 2 2c 222 2 2 2c22c 122 1 2 2 2c22c 121 2 21 22c1 2 2c 2 12 2 1c111 lm 12 1 I,l 2 1 l Ilm Ilcosllm Ilcosllm IIcosll2llmlm     ...

Ngày tải lên: 21/06/2014, 06:20

... and D in (71) are defined as 2 2 2 2 1 2 1 1 2 2 2 1 2 1 2 1 2 2 2 1 1 1 2 ( ) 4 cos 4 m m J J m r m r m r m rr A J N N N N               (72a) 2 2 2 2 2 2 1 2 1 2 1 2 1 2 2 cos 4 ... a 41 =a 42 =a 43 =0 for backward path. The conditions in ( 42) , (43) and (44) give the following matrix equality for the unknown coefficients: 1 2 2...

Ngày tải lên: 21/06/2014, 06:20

... integrated performance index is defined as             22 22 22 1 023 45611 0 2 222 72 2 83 3 94 4 1011 1 22 2 2 11 2 2 2 12 3 3 3 13 4 4 4 22 22 11 22 33 44 [ ] cz s us us ... active suspension 1 f , 2 f , 3 f , 4 f . Therefore, the combined performance index is defined as 22 22 2 11 22 33 44 5 1 1 0 22 22 622 7338449 2 222 22 10...

Ngày tải lên: 19/06/2014, 12:20

... 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, particularly in the ... results of a 2- D flexible-joint robot using the proposed controller; finally, some conclusions are given in section 4. 2. MAIN RESULTS The dynamics of an n-rigid link flexible...

Ngày tải lên: 21/06/2014, 06:20

... terminal from part tray // 4.1 .2 Hold and locate insertion point // 4.1.3 Insert cable end into terminal with driver // 4 .2 Set terminal on marking board Plan 4 .2: Do 4 .2. 1 then 4 .2. 2 then ... insertion point // 2. 1.3 Insert cable contact into connector with driver // 2. 3 Set connector on marking board Plan 2. 3: Do 2. 3.1 then 2. 3 .2 then exit 2. 3.1 Release connect...

Ngày tải lên: 21/06/2014, 06:20

... (Rad) 0 1 2 20 0 −100 0 100 20 0 joint torque of joint1 time (s) torque (Nm) 0 1 2 20 0 −150 −100 −50 0 50 100 joint torque of joint2 time (s) torque (Nm) 0 1 2 −300 20 0 −100 0 100 20 0 300 motor ... the nominal dynamic model of the robots to decouple and to linearize the nonlinear system, is one of the well-known Advances in Robot Manipulators1 76 0 1 2 −0 .2 0 0 .2 0.4 0.6...

Ngày tải lên: 21/06/2014, 06:20

... this finger when these uniform mechanical parts are used. Thumb Finger Index Finger Middle Finger Ring Finger Little Finger Distal Phalanx 24 .1 24 .2 24 .2 24 .2 24 .2 Distal Phalanx 23 .5 23 .5 23 .5 ... this finger when these uniform mechanical parts are used. Thumb Finger Index Finger Middle Finger Ring Finger Little Finger Distal Phalanx 24 .1 24 .2 24 .2 24 .2 24 ....

Ngày tải lên: 21/06/2014, 06:20

... on Robotics and Automation , Vol. 18, pp. 28 5 -29 3. Advances in Robot Manipulators3 16 The purpose of this paper is to examine the theory of robust learning for intelligent machines. A main ... presented below. Advances in Robot Manipulators3 22 Integrating the TCC with the adaptive critic learning system and interacting with the dynamic database, the creative learning system prov...

Ngày tải lên: 21/06/2014, 06:20

... ≤   ˜x  ξ  ˜v   T P 2   ˜x  ξ  ˜v   , with P 1 =   1 2 0 0 0 αk p + 1 2 α 2 λ min {M} − 1 2 αλ max {M} 0 − 1 2 αλ max {M} 1 2 λ min {M}   , P 2 =   1 2 0 0 0 αk p + 1 2 α 2 λ max {M} 1 2 αλ max {M} 0 1 2 αλ max {M} 1 2 λ max {M}   , so ... λ min {P 1 }, λ 2 = λ max {P 2 }. (31) Notice that V (t, z) is a globally positive definite func...

Ngày tải lên: 21/06/2014, 06:20