CRC Press - Robotics and Automation Handbook Episode 1 Part 4 ppt

... be 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 ), ... 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...

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... overlapping area between the plates, and d is the distance between the plates. Copyright © 2005 by CRC Press LLC 10 -1 8 Robotics and Automation Handbook Using ˆ a and c,wecandefine a local coordinate system ... Graphics Appl., vol. 6, no. 12 , pp. 8 17 . Copyright © 2005 by CRC Press LLC 11 Design of Robotic End Effectors Hodge Jenkins Mercer University 11 .1 Intr...

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... 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 .R5573 2000 629.8’92—dc 21 20 040 49656 18 04_ Disclaimer.fm Page 1 Tuesday, August 17 , 20 04 3:07 PM Copyright © 2005...

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... -1 29 .10 21 -1 14 .30 77 . 14 45 .87 17 .15 15 4. 29 -1 65.67 22 -1 14 .30 77 . 14 45 .87 -1 2. 91 1 34. 74 -2 8. 24 23 -1 14 .30 77 . 14 45 .87 35.38 14 0.57 26.89 24 -1 14 .30 77 . 14 45 .87 88.80 10 1 .19 89 .46 25 -1 14 .30 77 . 14 45 .87 ... -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...

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... 2005 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] ... I 2 0 α 2 + 0 ω 2 ×  I 2 0 ω 2  (4 .12 ) 0 T 0 ,1 = 0 T 1, 2 + 0 d 0 ,1 × m 1 0 a 1 + 0 p 0 ,1 × 0 F 1, 2 − 0 d...

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... where Copyright © 2005 by CRC Press LLC 8 -4 Robotics and Automation Handbook X i d i a i O i z i link i + 1 link i − 1 link i axis i + 1 axis i {F i } {F i 1 } q i a i O i 1 Z i 1 O′ X i 1 d i = link offset a i ... Germany, 12 5 15 1. [44 ] Samson, C. (19 93). Time-varying feedback stabilization of a car-like wheeled mobile robot. Int. J. Robotics Res., 12 ,...

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... transformation matrix 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 ... (−C 1 C 2 S 4 − S 1 C 4 )C 6 r 13 = (C 1 C 2 C 4 − S 1 S 4 )S 5 +C 1 S 2 C 5 r 21 = ((S 1 C 2 C...

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... 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 2 2.5 3 0.5 Hz 1 Hz 2 Hz Control Effort Time FIGURE ... Control, 11 5, 3 41 347 , 19 93. [17 ] Singhose, W.E., Crain, E.A., and Seering, W.P., Convolved and simultaneous two-mode input shapers, IEE Control Theory an...

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... with 200 and 40 0 steps per revolution. This corresponds to step angles of 1. 8 ◦ and 0.9 ◦ , respectively. Microstepping Copyright © 2005 by CRC Press LLC 12 -1 0 Robotics and Automation Handbook The ... LLC 13 -1 0 Robotics and Automation Handbook 0 0. 01 0.02 0.03 0. 04 0.05 0.06 0.07 0.08 0.09 0 .1 1 –0.5 0 0.5 1 FIGURE 13 .4 Multiple continuous-t...

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... behavior and the real-time capability qualify the estimated model for model-based control purposes. Copyright © 2005 by CRC Press LLC 14 -1 6 Robotics and Automation Handbook Equation ( 14 .43 ) and Equation ... simplest and the most time-efficient least-squares Copyright © 2005 by CRC Press LLC 14 -2 0 Robotics and Automation Handbook Time (s) 010 −2....

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