Advances in robot manipulators 1 potx

... 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, ... 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...

Ngày tải lên: 21/06/2014, 06:20

...                                                                                                     10 00 010 0 0 010 x0 01 1 000 010 0 y 010 00 01 1000 z100 0 010 00 01 1000 010 0 00)cos()sin( 00)sin()cos( 10 00 0)cos(0)sin( 0 010 0)sin(0)cos( 10 00 0)cos()sin(0 0)sin()co...

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... 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...

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... 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 connect...

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... 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

...           212 11 212 11 sinlsinl coslcosl th   θ and the Jacobin matrix is defined as          )cos(l)cos(l)cos(l )sin(l)sin(l)sin(l 2 2 12 212 11 12 212 11   J Regarding ... backstepping approach. Firstly, let 1IndInd   and define an internal state w . Then the system (16 .b) can be represented as 1Ind w    (19 .a) 2Ind1Ind  ...

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... F V +F inertrel F V F F V +F inertrel F V F 45 F V +F inertrel F V F F V +F inertrel F V F F V +F inertrel F V M F 45 F F V F 45 1. 2. 3. 4. 5. 6. 7. 8. 1. 1 1. 2 1. 3 2 .1 2.2 2.3 1. 1 1. 2 1. 3 4 .1 4.2 4.3 5 .1 5.2 5.3 6 .1 6.2 6.3 Fig. 13 . Load cases for the topology optimization. The first six load case combinations ... 1  , then about the mobile y p -axis by an ang...

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... on Robotics and Automation , Vol. 18 , pp. 285-293. Advances in Robot Manipulators3 16 The purpose of this paper is to examine the theory of robust learning for intelligent machines. A main ... geometrical model is defined by equations 12 13 12 13 cos cos cos , sin sin sin x L q L q L q y L q L q L q             (34) EclecticTheoryofIntelligentRobots 317 T...

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... 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

... 1] T 1. 610 2 1. 7030 1. 1206 1. 9320 1. 7847 [0 20 40 1 1 1] T 1. 610 4 1. 7032 1. 1207 1. 9324 1. 7850 [0 0 25 1 1 1] T 1. 5848 1. 6 515 1. 0994 1. 9 017 1. 7275 [0 0 0 50 1 1] T 1. 610 5 1. 70 31 1 .12 07 1. 9324 1. 7850 [0 ... 1] T 1. 610 2 1. 7030 1. 1206 1. 9320 1. 7847 [0 20 40 1 1 1] T 1. 610 4 1. 7032 1. 1207 1. 9324 1. 7850 [0 0 25 1...

Ngày tải lên: 21/06/2014, 06:20