CRC Press - Robotics and Automation Handbook Episode 1 Part 5 ppsx
CRC Press - Robotics and Automation Handbook Episode 1 Part 5 ppsx
... 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 , 1, 55 –66.
[ 45] Samson, C. and Ait-Abderrahim, K. 19 91. Feedback ... CWRU 19 90.
[55 ] Walsh, G.C. and Sastry, S.S. (19 95) . On reorienting linked rigid bodies using internal motions.
IEEE Trans. Robotics Automation, 11 , 1, 1...
CRC Press - Robotics and Automation Handbook Episode 1 Part 3 ppsx
... © 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 -1 012
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
2 15 .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 e...
CRC Press - Robotics and Automation Handbook Episode 1 Part 1 pptx
... with sides of length
0-8 49 3 -1 80 4 -1 / 05$ 0.00+ $1. 50
© 20 05 by CRC Press, LLC 2 -1
Copyright © 20 05 by CRC Press LLC
This book contains information obtained from authentic and highly regarded sources. ... Kurfess, Thomas R.
TJ 211 .R 557 3 2000
629.8’92—dc 21 2004049 656
18 04_Disclaimer.fm Page 1 Tuesday, August 17 , 2004 3:07 PM
Copyright © 20 05 by C...
CRC Press - Robotics and Automation Handbook Episode 1 Part 2 potx
... 29.90 -1 1. 28 -3 . 81 -8 0.29
5 63.89 -2 0.66 91. 33 -1 15 .55 33.74 4.29
6 -7 0 .59 32. 21 169 . 15 -8 7. 01 1 35. 05 16 1.33
7 -5 0.98 10 8 .14 54 .72 -1 43.86 14 1 .17 10 7 .12
8 -8 8.86 53 .58 81. 08 -1 56 .97 13 5. 54 54 .00
9 ... 54 .00
9 -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 14...
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...
CRC Press - Robotics and Automation Handbook Episode 1 Part 6 pot
... V
i
, and s
i
into Equation (8.26) and Equation (8.27) we get
R
0
5
=
C
1
C
3
C
5
+ S
1
S
5
−C
1
C
3
S
5
+ S
1
C
5
C
1
S
3
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
3
C
5
−S
3
S
5
−C
3
(8.28)
d
0
5
=
C
1
S
3
d
4
S
1
S
3
d
4
d
2
−C
3
d
4
(8.29)
where ... S
2
S
4
C
6
r
33
=−S
2
C
4
S
5
+C
2
C
5
d
0
6
=
...
CRC Press - Robotics and Automation Handbook Episode 1 Part 7 pot
... surface of revolution.
Copyright © 20 05 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 Contr...
CRC Press - Robotics and Automation Handbook Episode 1 Part 8 ppt
... overlapping area between the plates, and d is the distance between the
plates.
Copyright © 20 05 by CRC Press LLC
10
-1 8 Robotics and Automation Handbook
Using
ˆ
a and c,wecandefine a local coordinate system ... Sci. Eng., vol. 11 8, no. 1, pp. 652 – 657 .
[ 15 ] Drake, A.W. (19 67). Fundamentals of Applied Probability Theory. McGraw-Hill, New York.
[16 ] ASME (19 83)...
CRC Press - Robotics and Automation Handbook Episode 1 Part 9 pdf
... 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-time frequencies can generate the same set of discrete-time ... with 200
and 400 steps per revolution. This corresponds to step angles of 1. 8
◦
and 0.9
◦
, respectively. Microstepping
Copyright © 20 05 by CRC Press...
CRC Press - Robotics and Automation Handbook Episode 1 Part 10 pdf
... simplest and the most time-efficient least-squares
Copyright © 20 05 by CRC Press LLC
14
-2 0 Robotics and Automation Handbook
Time (s)
010
−2 .5
0
2 .5
Input torque (Nm)
(a)
1
0
0.8
Angles (rad)
0 10
−4
0
4
Speeds ... 20 05 by CRC Press LLC
14
-1 0 Robotics and Automation Handbook
where
x
i
(k) = [e
i
(k),
˙
e
i
(k), ν
i
(k)]
T
(14 .29a)
E
i
=
...
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