CRC Press - Robotics and Automation Handbook Episode 1 Part 7 pot

... Control, 11 5, 3 41 3 47, 19 93. [ 17 ] Singhose, W.E., Crain, E.A., and Seering, W.P., Convolved and simultaneous two-mode input shapers, IEE Control Theory and Applications, 515 –520, 19 97. [18 ] Pao, ... 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...

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... -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. 91 134 .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. 91 57. 62 77 .15 15 1. 31...

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... 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 = d 1 +C 2 d 3 + ... 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...

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... Kurfess, Thomas R. TJ 211 .R5 573 2000 629.8’92—dc 21 2004049656 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. I...

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... 2005 by CRC Press LLC 3 -3 0 Robotics and Automation Handbook B.9 File ‘‘Tdes.dat’’ -0 .70 71 0 6 0 0 .70 71 0 6 12 0 -1 012 0 .70 71 0 6 0 0 .70 71 0 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 e...

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... 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...

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... 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 ∂ ... 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...

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... 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...

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... CRC Press LLC 12 -8 Robotics and Automation Handbook B I V H FIGURE 12 .9 Hall effect sensor. 12 .2 .1. 7 Ultrasonic Sensors Ultrasonic displacement sensors use the same approach as optical time-of-flight ... 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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... simplest and the most time-efficient least-squares Copyright © 2005 by CRC Press LLC 14 -2 0 Robotics and Automation Handbook Time (s) 010 −2.5 0 2.5 Input torque (Nm) (a) 1 0 0.8 Angles (rad) 0 10 −4 0 4 Speeds ... behavior and the real-time capability qualify the estimated model for model-based control purposes. Copyright © 2005 by CRC Press LLC 14 -1 6 Rob...

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