Control of Robot Manipulators in Joint Space - R Kelly, V Santibanez and A Loria Part 11 doc

... Hebertt Sira-Ram´ırez, Juan M. Ibarra, Alfonso P´amanes, Ilse Cervantes, Jos´e Alvarez- Ram´ırez, Antoine Chaillet and Marco A. Arteaga. Special words of thanks go to Ricardo Campa who actively participated in ... address in great detail a range of model-based controllers such as: Pro- portional Derivative (PD), Proportional Integral Derivative (PID), Computed torque and some v...

Ngày tải lên: 27/06/2014, 18:20

... Supélec, 3 rue J oliot Curie, 9119 2 Gif-sur-Yvette, France British Library Cataloguing in Publication Data Kelly, R. Control of robot manipulators in joint space. - (Advanced textbooks in control and ... those variables that are available and that have an in uence on the behavior of the system and more particularly, on its outputs. These variables are refe...

Ngày tải lên: 27/06/2014, 14:20

... (in particular, passivity- based control) are studied in the first part of the book • Ortega R. , Lor´ a A., Nicklasson P. J. and Sira-Ram´ırez H., 1998, “Passivity- based control of Euler-Lagrange ... for industrial robot manipulators is the Propor- tional Integral Derivative (PID) controller. In general, this type of controller 20 2 Mathematical Preliminaries 2.1 Line...

Ngày tải lên: 09/08/2014, 07:20

... Control theory of non–linear mechanical systems”, Ox- ford University Press, New York. More advanced monographs addressed to researchers and texts for gradu- ate students are • Ortega R. , Lor´ a ... R. , Lor´ a A., Nicklasson P. J., Sira-Ram´ırez H., 1998, “Passivity- based control of Euler-Lagrange Systems Mechanical, Electrical and Elec- tromechanical Applications”, Springer...

Ngày tải lên: 09/08/2014, 07:20

... computed-torque control was one of the first model-based controllers for robot manipulators, and rapidly gained popularity it has the disadvantages of other feedback-linearizing controllers: first, ... chapter. 226 Part III • Feedforward control and PD plus feedforward control. For references regarding the problem of motion control of robot manipu- lators see the Intr...

Ngày tải lên: 09/08/2014, 07:20

... IR n . 314 14 Introduction to Adaptive Robot Control Certainly one may consider other variants such as adaptive control for systems with time-varying parameters, or robust adaptive control for ... June. In recent years a promising approach appeared for robot control which is called ‘learning’. This approach is of special interest in the case of paramet- 14.1 Parameteriza...

Ngày tải lên: 09/08/2014, 07:20

... J., Braun K., 1987, “ Adaptive friction compen- sation in DC-motor drives”, IEEE Journal of Robotics and Automation, Vol. RA-3, No. 6, December. • Canudas C., 1988, “Adaptive control for partially ... page 394. D Dynamics of Direct-current Motors The actuators of robot manipulators may be electrical, hydraulic or pneu- matic. The simplest electrical actuators used in robotic...

Ngày tải lên: 09/08/2014, 07:20

... with a quotation, a question, a surprising statement or fact, an imaginary situ- ation or scenario, an anecdote, interesting background information, or a new twist on a familiar phrase. –INTRODUCTIONS– 97 –INTRODUCTIONS– 98 Skim ... at your writing, through a stronger lens that highlights words and sentences. Are your word choices appropriate and fresh? Are there any repetitiv...

Ngày tải lên: 24/12/2013, 10:18

... prepares an ordered N EPR pairs which are in the same state |φ + 〉AB = (|0〉 A| 0〉B + |1 A| 1〉B). Alice separates the two particles into two parts. Each part is an ordered EPR partner particle ... b|00γi〉 +a| 11 〉}. So the density matrix of the traveling particle γ i for Eve is . The eavesdropping behavior on the traveling particle reveals no useful information about the...

Ngày tải lên: 20/06/2014, 11:20

... where slow motion oc- curred. The watermark also survived in nearly all I-frames af- ter DivX transcoding (Figure 1 5a) . Moreover, the watermark survived in most I-frames after a very severe attack ... scheme.               111 1110 111 1111 0 111 1111 0 111 1110 0 111 11000 111 10000 111 00000 00000000               (a) Low activity block mask.  ...

Ngày tải lên: 23/06/2014, 01:20