Control of Robot Manipulators in Joint Space - Part 2 pdf

... in Publication Data Kelly, R. Control of robot manipulators in joint space. - (Advanced textbooks in control and signal processing) 1. Robots - Control systems 2. Manipulators (Mechanism) 3. Programmable ... 143 9 -2 23 2 ISBN-10: 1-8 523 3-9 9 4 -2 ISBN-13: 97 8-1 -8 523 3-9 9 4-4 Springer Science+Business M edia springeronline.com © Springer-V...

Ngày tải lên: 27/06/2014, 14:20

... with elastic joints 78 3.8 Link with an elastic joint 81 3.9 Example of a 2- DOF robot . 81 3.10 Example of a 2- DOF robot . 82 3.11 Diagram of a DC motor . . 83 3. 12 Block-diagram of a robot with ... . 25 9 Problems . 26 0 12 Feedforward Control and PD Control plus Feedforward . . . . 26 3 12. 1 Feedforward Control . 26 4 12. 2 PD Control plus Feedforward...

Ngày tải lên: 27/06/2014, 18:20

... and - - but 4. some - - any 5. not much - - not many 6. are going to plant - - are planting 7. Is - - are 8. have - - has C. READING I/ 0 .25 p * 8 = 2p 1. Her name is Lala. 2. She lives in a ... like III/ 0 .25 p * 8 = 2p 1. tallest 4. camping 7. dangerous 2. beautiful 5. nationality 8. businessman 3. pollution 6. highest VI/ 0 .25 p * 8 = 2p 1. how ma...

Ngày tải lên: 27/06/2014, 18:20

... results of the quasi-inverse and full-inverse procedures for the classification of mines and non-mine targets respectively. 39 Heat Transfer for NDE: Landmine Detection 26 Will-be-set-by -IN- TECH Wang, ... stage alone. 4.1 .2 Results of the full-inverse approach for the classification of non-mine targets Now, we will illustrate the process of estimating the thermal parameters of...

Ngày tải lên: 19/06/2014, 10:20

... iμ 0 μωm z ∂ ∂x  ψ 0 + ∂ 2 ψ 2 ∂y 2  , E z = iμ 0 μωm z ∂ 3 ψ 2 ∂x∂y∂z , (69) ⎧ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎨ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎩ H x = −m z ∂ 2 ψ 0 ∂x∂z , H y = −m z ∂ 2 ∂y∂z  ψ 1 + ∂ 2 ψ 2 ∂x 2  , H z = m z  ∂ 2 ∂y 2  ψ 1 + ∂ 2 ψ 2 ∂x 2  + ∂ 2 ψ 0 ∂x 2  . (70) In ... Khomich 2 , S.V. Ivanova 3 , V.I. Terechov 4 and Yu.N. Grinchik 5 1 A.V. Luikov Heat and Mass T...

Ngày tải lên: 19/06/2014, 21:20

... K 2  − 2t τ 2  exp  − t 2 τ 2  ; y g3 = K 3  − 2 τ 2  1 − 2t 2 τ 2  exp  − t 2 τ 2  (49) where τ is the time-scaling factor, and K 1 ,2, 3 are the normalization constants: K 1 =  E 1 τ √ π /2 ; K 2 =  τE 2 √ π /2 ; ... Journal of Quantum Electronics, Vol. 25 , No.11, (November 1989) 22 9 7 -2 306, ISSN 001 8-9 197 Agrawal, G.P. (20 01). Application...

Ngày tải lên: 19/06/2014, 23:20

... [mm] -5 0 -4 5 -4 0 -3 5 -3 0 -2 5 -2 0 y [mm] x [mm] 100 20 0 (a) (b) [dB] 300 -1 40 -1 00 0 140 y [mm] x [mm] y [mm] x [mm] 20 0 300 10 0-1 40 -1 00 0 140 10 0-1 40 -1 00 0 140 10 0-1 40 -1 00 0 140 20 0 300 20 0 300 (b) (c) (d) ... 34567891011 -6 0 -5 0 -4 0 -3 0 -2 0 -1 0 Frequency [GHz] Propagation gain [dB] 34567891011...

Ngày tải lên: 20/06/2014, 06:20

... -8 0 -6 0 -4 0 -2 0 0 20 40 60 80 -0 .8 -0 .6 -0 .4 -0 .2 0.0 0 .2 0.4 0.6 0.8 1.0 1 .2 B (T) Offset (mm) Gap1mm Gap5mm Gap10mm Gap15mm Gap20mm 0 20 40 60 80 1 00 0.0 0 .2 0.4 0.6 0.8 1.0 1 .2 B (T) Gap ... the diameter of each of the array of 7 YBCO bulks was 30 mm. 20 40 60 80 100 0 2 4 6 8 10 12 Rigidity of levitation force Sampling positi...

Ngày tải lên: 21/06/2014, 06:20

... 1.4 5 42 0.695 1.8 434 0.700 1.8 326 0.705 2. 2 21 9 0.710 2. 4 122 0.715 2. 6 42 0. 720 1 .2 3.4 Table 1. V C versus Linear input range In Fig. 12. , the simulated THD as a function of the input ... tradeoff between wide linear input range and higher transconductance which is mainly determined by a resistor. 1in V 2in V SS I 2out I 1out I SS I 1out I 2out I 1in...

Ngày tải lên: 21/06/2014, 06:20

... Decision-Making in Clinical Medicine (Part 2) The following three examples introduce the subject of clinical reasoning:  A 46-year-old man presents to his internist with a chief complaint of ... problems, of the sort encountered daily in clinical medicine, with great efficiency. Clinicians rely on three basic types of heuristics. When assessing a particular patient, cl...

Ngày tải lên: 06/07/2014, 08:20