CRC Press - Robotics and Automation Handbook Episode 1 Part 6 pot

... 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 − S 1 S 4 )S 5 +C 1 S 2 C 5 )d 6 d 21 =C 1 d 2 + S 1 S 2 d 3 + ((S 1 C 2 C 4 +C 1 S 4 )S 5 + S 1 S 2 C 5 )d 6 d 31 = ... sin(i): R 0 6 =    r 11 r 12 r 13 r 21 r 22 r 23 r 31 r 32 r 33    (8.38) r 11 = ((C 1...

Ngày tải lên: 10/08/2014, 02:20

... 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 .69 55.74 11 -7 6 .12 15 . 76 58. 71 1 06. 37 -2 7 .14 -4 0. 86 12 16 4.40 -1 55.70 58.08 13 . 01 43.00 -1 76. 37 13 -1 8 .18 -1 53 .18 14 8.99 ... 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...

Ngày tải lên: 10/08/2014, 02:20

... Equation (10 . 16 ) is sometimes needed.      1 −ε z ε y X + δ x ε z 1 −ε x δ y + Xε z −ε y ε x 1 δ z + Xε y 000 1      (10 . 16 ) Copyright © 2005 by CRC Press LLC Error Budgeting 10 - 17 must ... 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

... Kurfess, Thomas R. TJ 211 .R5573 2000 62 9.8’92—dc 21 200404 965 6 18 04_Disclaimer.fm Page 1 Tuesday, August 17 , 2004 3:07 PM Copyright © 2005 by CRC Press LLC ROBOTICS AND AUTOMATION HANDBOOK EDITED BY Thomas ... Cataloging-in-Publication Data Robotics and automation handbook / edited by Thomas R. Kurfess. p. cm. Includes bibliographical references and index....

Ngày tải lên: 10/08/2014, 02:20

... 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] ... 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...

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 ), ... Figure 6 .1, the velocities of P 1 and P 2 are v P 1 = Lu 1 a 2 (6 . 16 ) v P 2 = Lu 1 a 2 + L(u 1 + u 2 )b 2 (6 .17 ) 6. 3.4 Partial...

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 ∂ ... 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] Sam...

Ngày tải lên: 10/08/2014, 02:20

... 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 Introduction 11 .2 Process and Environment System ... 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...

Ngày tải lên: 10/08/2014, 02:20

... with 200 and 400 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-time...

Ngày tải lên: 10/08/2014, 02:20

... Robotics and Automation Handbook 0 10 1. 6 0 2.5 Time (s) Angles (rad) q 1 q 2 q 3 (a) 1 0 1 −2 0 2 0 10 1 0 1 Time (s) q 2 (rad/s) . q 1 (rad/s) . . q 3 (rad/s) (b) FIGURE 14 .6 The joint ... 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 an...

Ngày tải lên: 10/08/2014, 02:20