CRC Press - Robotics and Automation Handbook Episode 2 Part 8 ppsx

... 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 and 1 OATF) Tip Acceleration (PD and ... 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...

Ngày tải lên: 10/08/2014, 02:20

... 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 ] K...

Ngày tải lên: 10/08/2014, 02:20

... Robot Simulation 21 -2 1 1 .89 0 20 40 60 80 100 120 X-Direction Tip Position (m) Time (sec) 1 .88 8 1 .88 6 1 .88 4 1 .8 82 1 .88 1 .87 8 1 .87 6 FIGURE 21 . 18 X tip direction. The primary motivation ... 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 Autom...

Ngày tải lên: 10/08/2014, 02:20

... 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 ... haptic Copyright © 20 05 by CRC Press LLC A Survey of Geometric Vision 22 -2 5 [ 58] Thrun, S., Robotic mapping: a survey, CMU Technical Report, CMU-CS-0 2- 1 1...

Ngày tải lên: 10/08/2014, 02:20

... (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 11 38 Aluminum 6061 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 1 988 , vol. 22 , pp. 28 9 29 8, 1 988 . Copyright © 20 0...

Ngày tải lên: 10/08/2014, 02:20

... (D-H), 8- 1 approach, 3-4 convention, 8- 1 21 examples, 8- 8 21 frame assignment, 3 -8 framework, 2- 7 notation, 2 1-7 parameters, 3-1 1–13, 8- 1 –5 C-code, 3-1 8, 3 -2 9–30 determining for Stanford arm, 8- 1 3 example ... eigenfunctions, 2 4-1 8 19 Eight-point linear algorithm, 2 2- 4 , 2 2- 5 coplanar features, 2 2- 7 8 homography, 2 2- 7 8 Eigh...

Ngày tải lên: 10/08/2014, 02:20

... 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 Matrix e...

Ngày tải lên: 10/08/2014, 02:20

... 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 .0 103.0 145.0 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 + 0 ω 2 ×...

Ngày tải lên: 10/08/2014, 02:20

... is m ¨ z 1 =−vsin(θ 2 ) m ¨ z 2 = u − vcos(θ 2 ) −mg I ¨ θ = 0 m 2 ¨ y 1 = vsin(θ 2 ) m 2 ¨ y 2 = vcos(θ 2 ) −m 2 g I 2 ¨ θ 2 = u 2 − vτ 1 Where m, I are the mass and the moment of inertia of the disk, m 2 , I 2 are ... I 2 sin(ψ) 2 sin(θ) 2 + 2 ˙ φ ˙ ψ I 2 cos(ψ) sin(ψ) sin(θ) 2 − 2 ˙ φ ˙ ψ I 1 cos(ψ) sin(ψ) sin(θ) 2 + ¨ φ I 1 cos(ψ) 2 sin(θ)...

Ngày tải lên: 10/08/2014, 02:20

... overlapping area between the plates, and d is the distance between the plates. Copyright © 20 05 by CRC Press LLC 10 -1 8 Robotics and Automation Handbook Using ˆ a and c,wecandefine a local coordinate system ... the critical curve. Copyright © 20 05 by CRC Press LLC 12 -6 Robotics and Automation Handbook d A sensor plate sensor plate targettarget C C FI...

Ngày tải lên: 10/08/2014, 02:20