Control of Robot Manipulators in Joint Space - R Kelly, V Santibanez and A Loria Part 13 ppt

... 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

... 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 referred to as inputs and may correspond for instance, ... Supélec, 3 rue J oliot Curie, 91192 Gif-sur-Yvette, France British Library Cataloguing in Publication Data Kelly, R. Control of robot manipulators in joint spa...

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

... determining whether each paragraph has just one main idea, whether there are adequate transitions between paragraphs, and if your introductory and concluding para- graphs fulfill their distinct ... or two may be required to guide your reader to the next idea. –REVISING PARAGRAPHS– 117 ORGANIZING PRINCIPLE TRANSITIONAL WORDS AND PHRASES order of importance more importantly above all mor...

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... discussion AFM analysis of purified V- PPase adsorbed onto mica Recombinant DNAs for overexpression of V- PPases containing a 6·His tag at either the C-terminus or N-terminus were prepared and transformed ... sustaining enzymatic and proton-translo- cating function and for indirect regulation of K + binding has been demonstrated [9]. Moreover, inter- subunit interactions of...

Ngày tải lên: 16/03/2014, 02:20

... of wheat straw tar as binder. 4. Rotary kiln reactor for char activation The advantage of the lab-scale pyrolysis and activation facilities is the easy way of handling and the short heat-up ... C. clariflavum (Shiratori et al., 2009) and several others. 4.1.2 Thermoanaerobacterium Thermoanaerobacterium together with genus Thermoanaerobacter falls within clusters V, VI and...

Ngày tải lên: 19/06/2014, 21:20