Motion Control Theory Needed In The Implementation Of Practical Robotic Systems 2 Part 8 ppsx
Motion Control Theory Needed in the Implementation of Practical Robotic Systems
... amplifier). The contents of the control loop is the subject of the remaining
chapters of Part I.
Chapter 2 Choosing a Motion Control Technology
2
Part I. Motion Control
Chapter 2. Choosing a Motion ... recalculate the profile in real-time taking the measured
feedback as the initial conditions of the new profile. A better profile could be plotted...
Motion Control Theory Needed in the Implementation of Practical Robotic Systems 2 pdf
... amplifier). The contents of the control loop is the subject of the remaining
chapters of Part I.
Chapter 3 The State of the Motor Control Industry
11
The industry has devised several interesting ... 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 maxim...
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...
Motion Control Theory Needed In The Implementation Of Practical Robotic Systems 2 Part 2 pptx
... technologies.
ã 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 ... Figure 2. 2 illustrates how DC motors
are named “DC” based on the input power to the controller, not the shape of the voltage
or current on the motor leads...
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 ... Chapter 3 The State of the Motor Control Industry
13
maximum allowed speed of the system. At lower speeds integral gain will be required to
maintain the correct s...
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
++= ... Chapter 3 The State of the Motor Control Industry
24
recalculated by finding the maximum velocity that is actually reached before reversing
the pr...
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. Stat...
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 erro...
Motion Control Theory Needed In The Implementation Of Practical Robotic Systems 2 Part 8 ppsx
... 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 as the output value of the system. The range of
possible ... PID control, which is
consistent with that point on the mapping in Figure 5.4. Many “centers” of the shape
other than the centroid, such as the mean o...
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
1 69
197
22 5
25 3
28 1
3 09
337
365
393
421
4 49
477
20 0 ms total time
Volts
Reset 2
-5
0
5
10
15
20
25
1
29
57
85
113
141
1 69
197
22 5
25 3
28 1
3 09
337
365
393
421
4 49
477
20 0 ms total time
Volts
Figure 6.1. Voltage captures during two ... though internal resistance is usually used as
the most important...
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 R...
Motion Control Theory Needed In The Implementation Of Practical Robotic Systems 2 Part 11 ppt
... 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 or increase the number of objects allowed in the ...
involves smoothing the path. This can be done by calculating the same path and then
going back and applying an averaging filter to each point. Significant smoothing c...
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 ... James then remained at
Virginia Tech and completed his Masters of Science Degree in Electrical Engineering in
May of 20 00. James may choose to continue his career at Bl...
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