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 © 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 I...

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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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... 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, ... with sides of length 0 -8 49 3 -1 80 4 -1 /05$0.00+ $1. 50 © 2005 by CRC Press, LLC 2 -1 Copyright © 2005 by CRC Press LLC This book cont...

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... -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 -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. 71 106.37 -2 7 .14 -4 0 .86 12 16 4.40 ... 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 74.92 9...

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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] ... literature baseofreportedwork,withmyriadarticlesinprofessionaljournalsandestablishedtextbooks(Featherstone, 19 87 ; Shahinpoor...

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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 ... 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    ·  ...

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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 + ... 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 1...

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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 ... quill 10 00 mm 500 mm 400 mm 60 mm 300 mm Base Point p Z y x z Θ z1 Θ z2 FIGURE 10 .8 A robot to be modeled kinematically. Copyright © 2005 by CRC Press LLC 9...

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... 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 ... 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 s...

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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 R...

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