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...

Ngày tải lên: 10/08/2014, 02:20

... © 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...

Ngày tải lên: 10/08/2014, 02:20

... 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...

Ngày tải lên: 10/08/2014, 02:20

... 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...

Ngày tải lên: 10/08/2014, 02:20

... 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...

Ngày tải lên: 10/08/2014, 02:20

... 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 = ...

Ngày tải lên: 10/08/2014, 02:20

... 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...

Ngày tải lên: 10/08/2014, 02:20

... 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)...

Ngày tải lên: 10/08/2014, 02:20

... 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...

Ngày tải lên: 10/08/2014, 02:20

... 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 =  ...

Ngày tải lên: 10/08/2014, 02:20