CRC Press - Robotics and Automation Handbook Episode 2 Part 3 pot

... 2m 2 r 1 r 2 C 2 + J 1 m 2 r 2 2 + m 2 r 1 r 2 C 2 m 2 r 2 2 + m 2 r 1 r 2 C 2 m 2 r 2 2 + J 2  (18.8) c(q, ˙ q) =  −m 2 r 1 r 2 S 2 ˙ q 2 2 − 2m 2 r 1 r 2 S 2 ˙ q 2 1 ˙ q 2 2 m 2 r 1 r 2 S 2 ˙ q 2 1  (18.9) F d F I-T ... IEEE J. Robotics Automat., Vol. RA 3, No.1,pp. 43 53, Feb. 1987. Copyright © 20 05 by CRC Press LLC 19...

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... space LDRDJacobian=simple(Jacobian(H(1 :3, 4),[th1;th2;th3])); LDRDJacobian_cc=ccode(LDRDJacobian); Copyright © 20 05 by CRC Press LLC 21 -2 2 Robotics and Automation Handbook 1 .22 20 0 40 60 80 100 120 Z-Direction Tip Position ... 21 -2 7 % total kinetic energy: T = 1 /2 qdot' * I * qdot + 1 /2 V' M V T=(1 /2* transpose(Q1)*I1*Q1 + 1 /2* transpose(Q2)*I2...

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... interface FIGURE 23 .5 Block diagram of haptic rendering. Copyright © 20 05 by CRC Press LLC 22 -1 8 Robotics and Automation Handbook FIGURE 22 .9 Top: A picture of the UAV in landing process. Bottom ... g 0 gg −1 0 with respect to the real camera frame. Copyright © 20 05 by CRC Press LLC 22 -2 4 Robotics and Automation Handbook [ 32 ] Kruppa, E., Zur ermit...

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... Robotics & Automation 20 02, pp. 28 17 28 23, 20 02. [ 53] Baraff, D., Analytical methods for dynamic simulation of nonpenetrating rigid bodies, Computer Graphics, vol. 23 , no. 3, pp. 22 3 23 2, 1989. [54] ... 25 .6 27 6 Kevlar 49 ® 120 X 1.45 82. 8 23 00 a S Glass fibers 85.5 X 2. 49 34 .3 X Magnesium AZ91A die cast 44.8 16.8 1.8 24 .9 1 52 Titanium T 1-1 3 V-11...

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... of a non-collocated flexible system, 20 03 ASME International Congress and Exposition, Washington D.C., Paper IMECE200 3- 4 138 6, November 16 22 , 20 03. [ 23 ] Oppenheim, A.V., Schaefer, R.W., and Buck, ... demands on the feedback control. Copyright © 20 05 by CRC Press LLC 24 -3 8 Robotics and Automation Handbook Tip Acceleration (PID Only) Tip Acceleration (PID...

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... environments, 2 3- 1 21 , 2 3 -2 f applications, 2 3- 3 –4 characterizing human user, 2 3- 5 classification, 2 3 -2 3 design, 2 3- 7 –9 related technologies, 2 3- 1 2 specification and design of, 2 3- 5 –7 system network ... 2 1-7 , 2 1-8 ACS, 2 4 -3 6f, 2 4 -3 7f Active touch, 2 3- 9 , 2 3- 1 1 Activity of force F, 6-4 Activity principle,...

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... cells detected and extracted, 2 2- 2 0f feature extraction, 2 2- 1 8 feature matching, 2 2- 2 0f matching, 2 2- 2 0f reconstruction, 2 2- 2 0f SystemBuild, 2 1-1 0, 2 1-1 3 System characteristic behavior, 2 4 -2 6 27 System ... Automation Handbook code 3- DOF system full sea state, 2 1 -2 4 27 single DOF example, 2 1 -2 3 24 cost, 2 1-1 1 Matr...

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... 20 05 by CRC Press LLC 3 -3 0 Robotics and Automation Handbook B.9 File ‘‘Tdes.dat’’ -0 .707106 0 0.707106 12 0-1 0 12 0.707106 0 0.707106 -1 2 0001 B.10 File ‘‘theta.dat’’ 24 .0 1 03. 0 145.0 21 5.0 29 .2 30 .0 References [1] ... follows: 0 T 1 ,2 = 0 T 2, 3 + 0 d 1 ,2 × m 2 0 a 2 + 0 p 1 ,2 × 0 F 2, 3 − 0 d 1 ,2 × m 2 0 g + I 2 0 α 2 +...

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... ((S 2 C 3 +C 2 S 3 )C 4 C 5 + (−S 2 S 3 +C 2 C 3 )S 5 )C 6 + (S 2 C 3 +C 2 S 3 )S 4 S 6 r 32 =−((S 2 C 3 +C 2 S 3 )C 4 C 5 + (−S 2 S 3 +C 2 C 3 )S 5 )S 6 + (S 2 C 3 +C 2 S 3 )S 4 C 6 r 33 = (S 2 C 3 +C 2 S 3 )C 4 S 5 − ... (−S 1 C 2 S 3 − S 1 S 2 C 3 )S 5 )S 6 + ((S 1 C 2 C 3 − S 1 S 2 S 3 )S 4 −C 1 C 4 )C 6 r 23...

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... revolution. Copyright © 20 05 by CRC Press LLC 9 -2 0 Robotics and Automation Handbook 20 0 −150 −100 −50 0 50 100 150 20 0 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 ... is −0.5 0 0.5 1 1.5 2 2.5 3 24 6810 K = 1 K = 3 K = 7 Response Time FIGURE 9 . 23 Step response of time-delay system without feedforward compensation....

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