CRC Press - Robotics and Automation Handbook Episode 2 Part 6 pptx

... calculated using Copyright © 20 05 by CRC Press LLC 22 -1 6 Robotics and Automation Handbook the following relationship   Nx −  Nx  N T x N T x   λ λ   =  0 2d  (22 .24 ) where d is the distance ... 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...

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... protocol, 2 6- 9 –10, 2 6- 1 0f HMA, 2 1-3 HMI, 2 6- 6 –8 Hohn, Richard, 1-8 Holding torque, 1 2- 1 4 Holonomic constraints, 5-1 1, 1 6- 1 4– 16 Homogeneous matrix, 5 -2 Homogeneous transformation, 2- 6 , 2- 7 computes C-code, ... equation, 1 7-9 Error sources, 1 0-1 effects on roundness, 1 0-1 5f superposition of, 1 0-1 5f Essential matrix, 2 2- 4 –5,...

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... 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 ... below. Copyright © 20 05 by CRC Press LLC 17 -2 2 Robotics and Automation Handbook [22 ] Kim,...

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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 (m) Time (sec) 1 .21 5 1 .21 1 .20 5 1.195 1.19 1.185 1.18 1 .2 FIGURE ... and Control, MIT Press, Cambridge. Copyright © 20 05 by CRC Pr...

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... (MPa) Steel-carbon 1040 cold rolled 20 6. 8 80.8 7.8 26 .5 490 Stainless steel 301 cold rolled 20 6. 8 80.8 7.8 26 .5 1138 Aluminum 60 61 heat treated 71.7 26 .8 2. 8 25 .6 27 6 Kevlar 49 ® 120 X 1.45 82. 8 23 00 a S ... Collision detection and response for computer animation, Computer Graphics SIGGRAPH 1988, vol. 22 , pp. 28 9 29 8, 1988. Copyright © 20 05 by CRC Pres...

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... application, Copyright © 20 05 by CRC Press LLC 24 -4 2 Robotics and Automation Handbook 24 .4 Summary Elasticity of structural material is a pervasive and simple phenomenon that leads to unavoidable and complex ... treatment begins. FIGURE 25 .3 Treatment planning system for CyberKnife ® . (Source: Accuray, Inc.) Copyright © 20 05 by CRC Press LLC 24 -2 6...

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... simulation Kane’s method, 6 -2 6 Profibus DP, 2 6- 1 0 Profibus-FMS, 2 6- 1 1, 2 6- 1 2 Profibus-PA, 2 6- 1 1 ProgramCC cost, 2 1-1 1 Programmable logic controllers (PLC), 2 6- 3 , 2 6- 4 –5, 2 6- 4 f Programmable Universal ... control, 2 6 -2 –4, 2 6- 3 f history, 2 6 -2 –4 industrial case study, 2 6- 1 7–18 networking and interfacing, 2 6- 9 –1...

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... Kurfess, Thomas R. TJ211.R5573 20 00 62 9 .8’ 92 dc21 20 0404 965 6 1804_Disclaimer.fm Page 1 Tuesday, August 17, 20 04 3:07 PM Copyright © 20 05 by CRC Press LLC ROBOTICS AND AUTOMATION HANDBOOK EDITED BY Thomas ... Education, and serves on the board of North American Manufacturing Research Institute of SME. Copyright © 20 05 by CRC Press LLC 2 -2 Robotics a...

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... (−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 2 S 3 +C 2 C 3 )C 5 d 0 6 =    d 11 d 21 d 31    (8.49) d 11 =C 1 C 2 a 2 + ... S 1 S 2 S 5 )S 6 + (−S 1 C 2 S 4 +C 1 C 4 )C 6 r 23 = (S 1 C...

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... theta2 theta3 theta4 theta5 theta6 0 -1 36 .23 -1 39.17 88.74 1 02. 89 137. 92 -2 3.59 1 -2 .20 -2 7 .61 178.80 34.10 14. 86 21 .61 2 44. 32 69 .98 51 .25 -3 8.03 97 .29 20 .31 3 69 .22 -3 2. 48 114.17 -5 1 .25 109.17 -6 8. 76 4 ... 109.17 -6 8. 76 4 120 . 32 56. 05 29 .90 -1 1 .28 -3 .81 -8 0 .29 5 63 .89 -2 0 .66 91.33 -1 15.55 33.74 4...

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