CRC Press - Robotics and Automation Handbook Episode 1 Part 10 pdf

... 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 ... 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...

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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 sen...

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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 contai...

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... -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 -9 7.00 19 -1 10 .76 77.23 47.40 54.07 16 0.48 -1 17 .69 20 -1 14 .32 77.03 45.94 47.39 15 8.26 -1 29 .10 21 ... -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...

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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] ... 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 ex...

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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 in...

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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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... −sin(θ 1 )0 sin(θ 1 ) cos(θ 1 )0 0 01    , V 1 =    10 0 010 0 01    U 2 =    cos(θ 2 ) −sin(θ 2 )0 sin(θ 2 ) cos(θ 2 )0 0 01    , V 2 =    10 0 0 10 00 1    U 3 =    10 0 010 0 01    , ... of the manipulator. U 1 =    cos(θ 1 ) −sin(θ 1 )0 sin(θ 1 ) cos(θ 1 )0 0 01    , V 1 =    10 0 010 0 01    U 2 =   ...

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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 ... 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...

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... 623–630. Copyright © 2005 by CRC Press LLC Error Budgeting 10 - 19 Combining Equation (10 .30) and Equation (10 . 31) into Equation (10 .24) yields an equation of the form A cos  + B sin  +C = 0 (10 .33) where A ... overlapping area between the plates, and d is the distance between the plates. Copyright © 2005 by CRC Press LLC 10 -1 8 Robotics and Automati...

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