CRC Press - Robotics and Automation Handbook Episode 1 Part 3 ppsx

... 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 -1 012 0.70 710 6 0 0.70 710 6 -1 2 00 01 B .10 File ‘‘theta.dat’’ 24.0 10 3. 0 14 5.0 215 .0 29.2 30 .0 References [1] ... m 1 0 a 1 + 0 p 0 ,1 × 0 F 1, 2 − 0 d 0 ,1 × m 1 0 g + I 1 0 α 1 + 0 ω 1 ×  I 1 0 ω 1  (4 . 13 ) An expres...

Ngày tải lên: 10/08/2014, 02:20

... 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 ∂ j 3 ∂x 2     In a similar way we can pull-back 1- forms from ... IR 3 can be represented as a 3 × 3 positive definite symmetric matrix given by σ =    σ 11 σ 12 σ 13 σ 12 σ 22 σ 23 σ 13 σ 23 σ 3...

Ngày tải lên: 10/08/2014, 02:20

... Cataloging-in-Publication Data Robotics and automation handbook / edited by Thomas R. Kurfess. p. cm. Includes bibliographical references and index. ISBN 0-8 49 3 -1 80 4 -1 (alk. paper) 1. Robotics Handbooks, manuals, ... Kurfess, Thomas R. TJ 211 .R55 73 2000 629.8’92—dc 21 2004049656 18 04_Disclaimer.fm Page 1 Tuesday, August 17 , 2004 3: 07 PM Copyright © 2005 b...

Ngày tải lên: 10/08/2014, 02:20

... 92.84 -3 2.89 14 -4 7. 83 -1 60.55 99.49 45.87 11 2.59 25. 23 15 -9 9 .11 16 .87 21. 47 -1 77 .35 -3 0.07 -1 15 . 73 16 -7 5.66 14 .52 84. 43 -1 32 . 83 -9 .84 -1 22.40 17 -1 62. 83 83 .18 34 .29 10 0. 41 1 13 .24 -9 3. 66 18 -1 21. 64 ... -1 73. 40 12 7.80 38 .88 -1 74. 21 4.49 -2 7 .35 1 -1 30 .68 72 .18 81. 86 -1 04 .16...

Ngày tải lên: 10/08/2014, 02:20

... LLC 6 -1 8 Robotics and Automation Handbook along A 1 and A 2 ,ischaracterizedbyz 1 and z 2 , respectively, and the orientation of R in A is described by the angle θ 2 between A 1 and R 1 .TheR 1 -coordinate ... given by F ∗ 3 =−m 3 ˙ u 3 (6. 73) F 3 = 0 (6.74) Copyright © 2005 by CRC Press LLC 6 -1 4 Robotics and Automation Handbook These...

Ngày tải lên: 10/08/2014, 02:20

... S 1 S 5 −C 1 C 3 S 5 + S 1 C 5 C 1 S 3 C 1 S 3 d 4 S 1 C 3 C 5 −C 1 S 5 −S 1 C 3 S 5 −C 1 C 5 S 1 S 3 S 1 S 3 d 4 S 3 C 5 −S 3 S 5 −C 3 d 2 −C 3 d 4 00 01      (8 .30 ) Copyright © 2005 by CRC ... 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 d 2 +C 1 S 2 d 3 + ((C 1 C 2 C 4...

Ngày tải lên: 10/08/2014, 02:20

...  z2 cos( z2 + ε z2 )00mm 0 010 mm 00 01      ·      1 0 0 400 mm 010 0mm 0 01 0mm 000 1      ·      10 ε y3 0mm 01 ε x3 0mm −ε y3 ε x3 1 −Z − δ z3 000 1      (10 .19 ) The HTM can be ... surface of revolution. Copyright © 2005 by CRC Press LLC 9 -2 0 Robotics and Automation Handbook −200 15 0 10 0 −50 0 50 10 0 15 0 200 0 0.5 1 1.5...

Ngày tải lên: 10/08/2014, 02:20

... Ann. CIRP, vol. 27, no. 2, pp. 6 23 630 . Copyright © 2005 by CRC Press LLC Error Budgeting 10 - 19 Combining Equation (10 .30 ) and Equation (10 . 31 ) into Equation (10 .24) yields an equation of the ... form A cos  + B sin  +C = 0 (10 .33 ) where A =| ˙ ˆ a|r  (u)r(u) + ˙ c · ˆ e 2 +| ˙ ˆ a|u (10 .34 ) B = ˙ c · ˆ e 3 (10 .35 ) C =−r  (u) ˙ c · ˆ e 1 (10 .36 ) Equati...

Ngày tải lên: 10/08/2014, 02:20

... © 2005 by CRC Press LLC Precision Positioning of Rotary and Linear Systems 13 -1 3 13 .3. 2.2 .3 Digital-to-Analog Conversion A reconstruction filter must be used to generate a continuous-time waveform ... stop and close the Copyright © 2005 by CRC Press LLC Sensors and Actuators 12 - 19 Motion Control Course Manual, National Instruments, Part Number 32 3296A-...

Ngày tải lên: 10/08/2014, 02:20

... I xx ,3 + I yy ,3 p 6 = 2(a 3 m 3 y 3 + I xy ,3 ) p 7 = 2d 2 m 2 z 2 + d 2 2 m 2 + 2(d 2 + d 3 )m 3 z 3 + (d 2 + d 3 ) 2 m 3 + I yy ,1 + I xx,2 + I xx ,3 p 8 =−(d 2 + d 3 )m 3 y 3 − I yz ,3 p 9 =−a 3 m 3 (z 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...

Ngày tải lên: 10/08/2014, 02:20