CRC Press - Robotics and Automation Handbook Episode 1 Part 2 potx

... -1 32. 83 -9 .84 -1 22 .40 17 -1 62. 83 83 .18 34 .29 10 0. 41 113 .24 -9 3.66 18 -1 21 . 64 63. 91 57. 62 77 .15 15 1. 31 -9 7.00 19 -1 10 .76 77 .23 47.40 54.07 16 0.48 -1 17 .69 20 -1 14 . 32 77.03 45.94 47.39 15 8 .26 -1 29 .10 21 ... 69 .22 -3 2. 48 11 4 .17 -5 1. 25 10 9 .17 -6 8.76 4 12 0. 32 56.05 29 .90 -1 1. 28 -3...

Ngày tải lên: 10/08/2014, 02:20

... Kurfess, Thomas R. TJ 21 1 .R5573 20 00 629 .8’ 92 dc 21 20 04049656 18 04_Disclaimer.fm Page 1 Tuesday, August 17 , 20 04 3:07 PM Copyright © 20 05 by CRC Press LLC ROBOTICS AND AUTOMATION HANDBOOK EDITED BY Thomas ... Education, and serves on the board of North American Manufacturing Research Institute of SME. Copyright © 20 05 by CRC Press LLC 2 -2 Robot...

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... 20 05 by CRC Press LLC 3 -3 0 Robotics and Automation Handbook B.9 File ‘‘Tdes.dat’’ -0 .70 710 6 0 0.70 710 6 12 0 -1 0 12 0.70 710 6 0 0.70 710 6 -1 2 00 01 B .10 File ‘‘theta.dat’’ 24 .0 10 3.0 14 5.0 21 5 .0 29 .2 30.0 References [1] ... follows: 0 T 1, 2 = 0 T 2, 3 + 0 d 1, 2 × m 2 0 a 2 + 0 p 1, 2 × 0 F 2, 3 − 0 d 1, 2 × m 2 0 g +...

Ngày tải lên: 10/08/2014, 02:20

... expressed as −Ls 1 u 1 − Ls 12 (u 1 + u 2 ) =u 3 (6.69) Lc 1 u 1 + Lc 12 (u 1 + u 2 ) =0 (6.70) where s 1 , c 1 , s 12 , and c 12 are equal to sinq 1 ,cosq 1 , sin(q 1 +q 2 ), and cos(q 1 +q 2 ), ... L /2) ˙ u 1 − L T u 2 1 + 2u 1 u 2  a 2 (6.48) a C ∗ =  − L T ˙ u 1 + ˙ u 2 − (L P +q 2 + L C )u 2 1  a 1 +  (L P +q...

Ngày tải lên: 10/08/2014, 02:20

... j 1 ∂x 1 ∂ j 2 ∂x 1 ∂ j 3 ∂x 1 ∂ j 1 ∂x 2 ∂ j 2 ∂x 2 ∂ j 3 ∂x 2  ·    σ 11 σ 12 σ 13 σ 12 σ 22 σ 23 σ 13 σ 23 σ 33    ·     ∂ j 1 ∂x 1 ∂ j 1 ∂x 2 ∂ j 2 ∂x 1 ∂ j 2 ∂x 2 ∂ j 3 ∂x 1 ∂ ... matrix given by σ =    σ 11 σ 12 σ 13 σ 12 σ 22 σ 23 σ 13 σ 23 σ 33    Assume that the submanifold M is two-dimensional...

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... is A 0 4 =      C 12 C 4 + S 12 S 4 −C 12 S 4 + S 12 C 4 0 C 1 a 1 +C 12 a 2 S 12 C 4 −C 12 S 4 −S 12 S 4 −C 12 C 4 0 S 1 a 1 + S 12 a 2 00 1 d 1 − d 3 − d 4 00 01      (8.35) Copyright © 20 05 by CRC Press LLC Trajectory ... S 2 S 4 C 6 r 33 =−S 2 C 4 S 5 +C 2 C 5 d 0 6 =    d 11 d 21 d 31    (8.39) d 11 =−S 1...

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... revolution. Copyright © 20 05 by CRC Press LLC 9 -2 0 Robotics and Automation Handbook 20 0 15 0 10 0 −50 0 50 10 0 15 0 20 0 0 0.5 1 1.5 2 2.5 3 0.5 Hz 1 Hz 2 Hz Control Effort Time FIGURE 9 .29 Control effort ... 1      ·      cos( z1 + ε z1 ) −sin  z1 00mm sin  z1 cos( z1 + ε z1 )00mm 0 010 mm 00 01      ·      1 0 0 500 mm 01 xp...

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... Mech, vol. 1, pp. 21 5 2 21 . [ 21 ] Bryan, J.B. (19 89). The Abb ´ e principle revisited — an updated interpretation. Precision Eng., vol. 1, no. 3, pp. 12 9 13 2. [22 ] Lin, P.D. and Ehmann, K.F. (19 93). ... Graphics Appl., vol. 6, no. 12 , pp. 8 17 . Copyright © 20 05 by CRC Press LLC 11 Design of Robotic End Effectors Hodge Jenkins Mercer University 11 .1 Introductio...

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... stop and close the Copyright © 20 05 by CRC Press LLC Sensors and Actuators 12 - 19 Motion Control Course Manual, National Instruments, Part Number 323 296A- 01, March 20 02. National Instruments, 11 500 ... the resolution much lower than Copyright © 20 05 by CRC Press LLC 12 -8 Robotics and Automation Handbook B I V H FIGURE 12 .9 Hall effect sensor....

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... −(d 2 + d 3 )m 3 x 3 − I xz,3 p 10 =−d 2 m 2 y 2 − I yz ,2 p 11 =−a 2 [m 3 (z 3 + d 2 + d 3 ) +m 2 (d 2 + z 2 )] −d 2 m 2 x 2 − I xz ,2 p 12 =  a 2 2 + a 2 3 + 2a 3 x 3  m 3 + a 2 m 2 (a 2 + 2x 2 ) ... I zz ,2 + I zz,3 p 13 =a 3 m 3 (a 3 + 2x 3 ) + I zz,3 p 14 = m 2 (x 2 + a 2 ) +m 3 a 2 p 15 = m 2 y 2 (14 .46) r 1, 1 = ¨ q 1...

Ngày tải lên: 10/08/2014, 02:20