CRC Press - Robotics and Automation Handbook Episode 1 Part 9 pdf

... 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 ... stop and close the Copyright © 2005 by CRC Press LLC Sensors and Actuators 12 - 19 Motion Control Course Manual, National Instruments, Part Number 323...

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... Precision Engineering, 19 (1) :11 18 , 19 96 . [ 29] Schouten, C.H., Rosielle, P.C.J.N., and Schellekens, P.H.J. Design of a kinematic coupling for preci- sion applications. Precision Engineering, 20 (1) :46–52, 19 97 . [30] ... simplest and the most time-efficient least-squares Copyright © 2005 by CRC Press LLC 14 -2 0 Robotics and Automation Handbook Time (s) 010 −...

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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, ... Kurfess, Thomas R. TJ 211 .R5573 2000 6 29. 8 92 —dc 21 20040 496 56 18 04_Disclaimer.fm Page 1 Tuesday, August 17 , 2004 3:07 PM Copyright © 2005...

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... 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 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 77.35 -3 0.07 -1 15 .73 16 -7 5.66 14 .52 84.43 -1 32.83 ... -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 57.6...

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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; Shahinp...

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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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... 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,...

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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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... 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 9. 29 Control effort ... Control, 11 2, 76–82, 19 90 . [8] Singhose, W., Singer, N., and Seering, W., Time-optimal negative input shapers, ASME J. Dynamic Syst., Meas., Contr...

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... vol. 1, pp. 215 –2 21. [ 21] Bryan, J.B. ( 19 89) . The Abb ´ e principle revisited — an updated interpretation. Precision Eng., vol. 1, no. 3, pp. 12 9 13 2. [22] Lin, P.D. and Ehmann, K.F. ( 19 93 ). ... K.N., and Taketani, S. (20 01) . Manufacturing system block diagrams and optimal adjustment procedures. ASME J. Manuf. Sci. Eng., vol. 12 3, no. 1, pp. 11 9 12 7. [7] Frey,...

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