Motion Control Theory Needed In The Implementation Of Practical Robotic Systems 2 Part 1 pot

... Other Technology Choices 6 CHAPTER 3. THE STATE OF THE MOTION CONTROL INDUSTRY 8 Velocity Controllers 12 Position Controllers 15 S-curves 17 The No S-curve 21 The Partial S-curve 22 The ... Figure 8 .1. A typical autonomous vehicle system 66 Figure 10 .1. The Mexican Hat 71 Figure 10 .2. The Shark Fin 72 Figure 10 .3. A map of obstacles and line segmen...

Ngày tải lên: 10/08/2014, 05:20

... technologies. • The cost of powering, controlling, and physically designing in the motion system with the rest of the robot is greatly reduced by choosing the appropriate motor. Table 2. 1. Common ... current on the motor leads. Chapter 2 Choosing a Motion Control Technology 2 Part I. Motion Control Chapter 2. Choosing a Motion Control Techn...

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... speed. All other controlled parameters, acceleration, velocity, and position, are damped in their rate of change by the inductance of the windings and the inertia of the moving system. All systems ... setpoint are roughly equal. There are many simple and complex Chapter 3 The State of the Motor Control Industry 11 The industry has devised several interesti...

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... important to choose the right jerk for the job. Chapter 3 The State of the Motor Control Industry 22 from (3 .2) 1 atv d = (3.8) substituting (3.8) into (3.7) gives 2 2 2 1 21 2 1 2 1 dttatatx f ++= ... accelerated. The initial and final velocities are zero, so the initial and final conditions are: 0= o x 0= o v 0= f v (3.6) substituting the condi...

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... Space The Velocity/Volts transfer function (3 .1) describing the motor control block diagram of Figure 3.1c is insufficient for modeling the nonlinearities and disturbances of interest in a system. ... time and the meaning of x ! will change based on the domain used. The latter differences are shown in Table 4 .1. The equations in this chapter are develope...

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... () () () 2 22 22 2 4 2 22 2 4 2 222 22 2 2 4 3 42 31 cos cossincossin cos cossinsin xlrl xxlxrxrxmgmrI x xrmrI xxmrgxrlx x xx xx − +−+ = −+ −+ = = = τ τ ! ! ! ! (5 .1) Where θ and φ are the angles ... only Chapter 4 The State of Motor Control Academia 41 0 0.5 1 1.5 -20 0 -10 0 0 10 0 20 0 PI, Torque Load 0 0.5 1 1.5 0 20 0 400 600 800 PI, Velo...

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... than either of the other methods. Chapter 5 Soft Computing 56 0 5 10 15 20 -300 -20 0 -10 0 0 10 0 Pendulum Angle (degrees) 0 5 10 15 20 -10 0 -50 0 50 Pendulum Speed (rpm) 0 5 10 15 20 -15 -10 -5 0 5 x ... Soft Computing 55 0 5 10 15 20 -40 -20 0 20 40 Pendulum Angle (degrees) 0 5 10 15 20 -40 -20 0 20 40 Pendulum Speed (rpm) 0 5 10 15 20 -4...

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... 1 -5 0 5 10 15 20 25 30 1 29 57 85 11 3 14 1 16 9 19 7 22 5 25 3 28 1 309 337 365 393 4 21 449 477 20 0 ms total time Volts Reset 2 -5 0 5 10 15 20 25 1 29 57 85 11 3 14 1 16 9 19 7 22 5 25 3 28 1 309 337 365 393 4 21 449 477 20 0 ms total time Volts Figure 6 .1. Voltage captures during two ... though internal resistance is usually used as the...

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... activity map of Figure 10 .1. The troughs on each side of the dotted line combine to form two valleys of dark outlining a mountain range of light peaks which are then perceived as a single line. This ... either connected component labeling or a clustering algorithm. A popular variation of these classic segmenting methods in the region -of- interest or ROI. When using R...

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... attenuation for motion control applications,” Proc. of the 19 98 24 th Annual Conf. of the IEEE Industrial Electronics Society, IECON, Part 3 (of 4), v 3 19 98, pp. 14 81- 1486, 19 98. [29 ] Kazuo Hiroi, ... resistance instead of a point and then adjusting the radius and momentum of the sphere to gain the desired smoothness. Another variation is to change o...

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