Motion Control Theory Needed In The Implementation Of Practical Robotic Systems 2 Part 5 ppsx
Motion Control Theory Needed In The Implementation Of Practical Robotic Systems 2 Part 5 ppsx
... Chapter 4 The State of Motor Control Academia 32 system. The block diagram of the system to be controlled is shown in Figure 4.3. This is the basis of the sample output shown in the rest of this ... describing the motor control block diagram of Figure 3.1c is insufficient for modeling the nonlinearities and disturbances of interest in a system. Sta...
Ngày tải lên: 10/08/2014, 05:20
Motion Control Theory Needed In The Implementation Of Practical Robotic Systems 2 Part 4 ppsx
... 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 conditions o...
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Motion Control Theory Needed In The Implementation Of Practical Robotic Systems 2 Part 8 ppsx
... (degrees) 0 5 10 15 20 -100 -50 0 50 Pendulum Speed (rpm) 0 5 10 15 20 - 15 -10 -5 0 5 x 10 4 Disk Position (degrees) 0 5 10 15 20 - 150 0 -1000 -50 0 0 50 0 Disk Speed (rpm) Figure 5. 8. The pendulum ... Computing 52 In the output universe the resulting shape is the yellow area shown in Figure 5. 5. The x centroid of this shape, x , is used...
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Motion Control Theory Needed In The Implementation Of Practical Robotic Systems 2 Part 9 ppsx
... 1 -5 0 5 10 15 20 25 30 1 29 57 85 113 141 169 197 22 5 25 3 28 1 309 337 3 65 393 421 449 477 20 0 ms total time Volts Reset 2 -5 0 5 10 15 20 25 1 29 57 85 113 141 169 197 22 5 25 3 28 1 309 337 3 65 393 421 449 477 20 0 ms total time Volts Figure 6.1. Voltage captures during two ... though internal resistance is usually used as the mos...
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Motion Control Theory Needed In The Implementation Of Practical Robotic Systems 2 Part 12 ppsx
... Virginia Polytechnic Institute and State University as an undergraduate in the Engineering program in fall of 1993. James graduated with his Bachelor of Science in Electrical Engineering in May of ... Avoidance Using an Artificial Potential Field,” Proc. of the 19 95 IEEE/RSJ International Conference on Intelligent Robots and Systems, Part 2 (of 3), Pittsburgh, PA...
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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 ... disk and its control system. 48 Figure 5. 3. Input and Output Membership Functions 50 Figure 5. 4. This surface maps the input/output behavior of the controller 50 F...
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Motion Control Theory Needed In The Implementation Of Practical Robotic Systems 2 Part 2 pptx
... 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 ... using windings to generate all the fluxes instead of relying on permanent magnets. Luttrell et. al. [1] used a synchronous motor that is inverter-fed off a DC bus...
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Motion Control Theory Needed In The Implementation Of Practical Robotic Systems 2 Part 3 ppt
... of torque is required to maintain the given speed. The second most popular form of integral windup limiting is integration delay. When there is a setpoint change in the velocity request the ... 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 interesting variatio...
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Motion Control Theory Needed In The Implementation Of Practical Robotic Systems 2 Part 7 ppt
... () () () 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 ... disturbances will combine in the worse possible way, the way that causes the most error. Find the set of feedback gains that will minimize the maximum err...
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Motion Control Theory Needed In The Implementation Of Practical Robotic Systems 2 Part 10 pptx
... 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 ROI...
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