Mechanical Systems Design Handbook P19 pot

... multibody mechanisms, IEEE Trans. Systems, Man, Cybernetics, 7, 868, 1977. 34. Lin, S. K., Singularity of a nonlinear feedback control scheme for robots, IEEE Trans. Systems, Man, Cybernetics, 19, ... and Roth, B., Inverse kinematics of the general 6R manipulator and related linkages, ASME J. Mechanical Design, 115, 502, 1990. 47. Renaud, M., Calcul de la matrice jacobienne necessaire à...

Ngày tải lên: 02/07/2014, 12:20

... resolution, which is discussed below as the ultimate limit on process control effectiveness. Many mechanical systems issues are involved in forming press control, but it is equally evident that even ... simple feedback of the machine outputs (herein referred to as machine contro l). As with any mechanical process, these outputs will be displacement or force, and control will involv...

Ngày tải lên: 02/07/2014, 12:20

... more advanced design strategies. If the design methods allow, design- by-simulation can be performed, i.e., the use of the simulation model (in any desirable degree of complexity) within the design loop. As ... MATLAB-SIMU- LINK MATRIXx-SystemBuild. 13.2.1.2 Design Models For the control design, suitable models of the vehicle are necessary. An important result of new design me...

Ngày tải lên: 02/07/2014, 12:20

... nonlinearities in the design process. • Most investigations to date have concluded that a well-designed, self-contained APPN system could have the advantages of both purely active and passive systems and ... a detailed parametric analysis for the APPN design, showing that the optimal FIGURE 15.5 Comparisons of purely active and active-passive hybrid systems: performance and required...

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... essence the standard synthesis of a servosystem for mechanical systems. However, robotic systems have some essential differences to other mechanical systems. For example, robots have variable moments ... The i-th actuator is driving the mechanical part of the robot (kinematic chain) around the i-th joint. In the given fixed positions of the joints , j > i, the mechanical part of...

Ngày tải lên: 02/07/2014, 12:20

... Adaptive Fuzzy Systems and Control: Design and Stability Analysis. Prentice Hall, 1994. 28. C.C. Lee. Fuzzy logic in control systems: Fuzzy logic controller. IEEE Transactions on Systems, Man and ... controller. Journal of Dynamic Systems, Measurement and Control, 97:220–227, September 1975. 21. J S.R. Jang. ANFIS, adaptive-network-based fuzzy inference systems. IEEE Transactions on...

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... introduction of bilateral force-reflecting master–slave manipulator systems. In these very successful systems, the slave arm at the remote site is mechanically or electrically coupled to the geometrically ... end effector. The fourth category deals with the potential for accidental switch activation for a given design. The lower the rating, the more potential exists for accidental activatio...

Ngày tải lên: 02/07/2014, 12:20

... geometry, number of wheels, frame structure, etc. From a mechanical point of view there is a common feature to all systems: they are nonholonomic systems. In this section we explain exactly what that ... and control. 26.4 Control of Mobile Robots A variety of control systems with mobile robots are currently in use. The simplest control systems were developed for so-called “teleoperato...

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... 15 have designed boundary controllers for strings, overhead gantry crane systems, and flexible cable systems. More recently, Zhang et al. 16 and Nagarkatti et al. 17 designed boundary controllers ... for a class of mechanical systems described by second-order (in time) PDE models. It should be noted that the boundary control philosophy has also been applied to other kinds o...

Ngày tải lên: 21/06/2014, 21:20

... essence the standard synthesis of a servosystem for mechanical systems. However, robotic systems have some essential differences to other mechanical systems. For example, robots have variable moments ... methods integrate control mechanical system design. 39 This approach is based on micro–macro manipulator structures that provide inherently stable and well-suited subsystems for...

Ngày tải lên: 21/06/2014, 21:20