Control of Robot Manipulators in Joint Space - R Kelly, V Santibanez and A Loria Part 14 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 Paramete...

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

... through grammar and spell check, print out a hard copy of your essay and complete proofreading steps 2 and 3: Check for errors in grammar and mechanics.  Limitations of Spell and Grammar Checkers There ... colleagues or friends may be better at finding spelling and grammar errors than you are. 4. Go under cover. Print out a draft copy of your writing, and read it wit...

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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 ... Sarafian V, Potier M & Poole RJ (1992) Radiation- inactivation analysis of vacuolar H + -ATPase and H + - pyrophosphatase from Beta vulgaris L. Functional sizes for...

Ngày tải lên: 16/03/2014, 02:20

... measurements were taken at different time intervals during the drying process. Each data point represents the average over 60 seconds. Both parameters Mass Transfer in Fluidized Bed Drying of ... for Inorganic Arsenic, pp. 1 0-2 8 Van der Vaart, R. ; Akkerhuis, J.; Feron, P. & Jansen, B. (2001), Removal of mercury from gas streams by oxidative membrane gas absorption, In: J...

Ngày tải lên: 20/06/2014, 06:20