Multi-Arm Cooperating Robots- Dynamics and Control - Zivanovic and Vukobratovic Part 13 ppt

... exhaust air and the formation of Monitoring, Control and Effects of Air Pollution 242 was implemented in industrial scale in Pomorzany Power Plant (Poland) for total capacity of 270,000 ... effective flue gas purification. The process Monitoring, Control and Effects of Air Pollution 248 Ozone is generated on site and on demand and injected aft...

Ngày tải lên: 19/06/2014, 14:20

... )(tm and consequently the rejection of the 412 Analysis and Control of Linear Systems the zeros of transmission of )( 12 sG and )( 21 sG . In addition, the remaining invariant zero are non-controllable ... operation environment of the system. 422 Analysis and Control of Linear Systems Theorem 13. 3 ( 2 H REGULATOR AND INTERNAL MODEL).– let us...

Ngày tải lên: 09/08/2014, 06:23

... q 1 2 + l 2 2 cos(q 1 2 + q 2 2 ) + l 3 2 cos(q 1 2 + q 2 2 + q 3 2 ) + l 4 2 cos(q 1 2 + q 2 2 + q 3 2 + q 4 2 ) z o2 + l 1 2 sin q 1 2 + l 2 2 sin(q 1 2 + q 2 2 ) + l 3 2 sin(q 1 2 + q 2 2 + ... l 1 2 cos q 1 2 + l 2 2 cos(q 1 2 + q 2 2 ) + l 3 2 cos(q 1 2 + q 2 2 + q 3 2 ) + l 4 2 cos(q 1 2 + q 2 2 + q 3 2 + q 4 2 ) z o2...

Ngày tải lên: 10/08/2014, 05:20

... system, and even then the forces at Mathematical Modeling of Cooperative Systems 45 y 2 − y 3 = y 23 = Y 2 − Y 3 + Y 30 − Y 20 = Y 2 − Y 3 + s 3 =  1 − Y 20 − Y 30 ||Y 2 − Y 3 ||  (Y 2 − Y 3 ), ... the derivatives of coordinates are differ- 34 Multi-Arm Cooperating Robots 3. 1 Some Known Solutions to Cooperative Manipulation Models In [12] and [ 13] , the vect...

Ngày tải lên: 10/08/2014, 05:20

... position and force of the manipulated object are X 0 , Y 0 and F I 0 , whereas Y i , F i , F ci and τ i , i = 1, 2are the displacements of contact points, elastic forces, contact forces and manipula- tor ... is to be solved by introducing the assump- 54 Multi-Arm C ooperating Robots i.e. the dependence F = ∂/∂y = Ky has been fully preserved. Thus, the prin- ciple of the minimum...

Ngày tải lên: 10/08/2014, 05:20

... a (r ia ,r ja ))(r ia r ja ) + ij 0 ì 0 , (89) 80 Multi-Arm Cooperating Robots 4 .5 Model of Elastic System Dynamics for the Immobile Unloaded State In this section, all the models of dynamics are derived using Lagrange’s ... direc- tion y z i . The total potential energy  of the elastic system is only its deformation 82 Multi-Arm Cooperating Robots 73 efficient on-line algor...

Ngày tải lên: 10/08/2014, 05:20

... A ia ) R 6 1 ,Y= col(Y 0 , ,Y m ) R 6m +6 L va (Y ) = diag(L v0a , ,L vma ) R (6m +6) ì(6m +6) , L via = diag(I 3ì3 ,L ia (A ia )) R 6 6 , v ia = col(r ia , ia (A ia )) = L via (Y i ) Y i R 6 1 , ia = ... R 6mì6m , detW ca (Y c ) = 0, w ca (Y, Y) = (w T 1a (Y, Y) w T ma (Y, Y)) T R 6mì1 , (1 16) where Y c denotes the expanded vector of contact position in the 6m-dimensional spac...

Ngày tải lên: 10/08/2014, 05:20

... Simulation results for τ 1 1 = 50 [Nm] and τ 1 2 =−50 [Nm] 132 Multi-Arm Cooperating Robots part referring to the physical quantity used in modeling and the number indicat- ing the ordinal number of the ... non- homogeneous system of differential equations involving dif ferential constraints. Such a system is solved by taking the left-hand side of the equality being given and see...

Ngày tải lên: 10/08/2014, 05:20

... equations (2 39) represents non-holonomic constraints. Solv- ing the nominal motion assumes the explicit calculation of the necessary contact 156 Multi-Arm Cooperating Robots 1 49 +[u 0 c −1 0 − ... that the positions of contact points 162 Multi-Arm Cooperating Robots 1 59 of matrices and vectors, with the subscript v for the leader (y v = y 1 ) and subscript s for the followe...

Ngày tải lên: 10/08/2014, 05:20

... stabilized first and then Steps 10, 11 and 12 replaced by Steps 10a, 11a and 12a. Step 10a. By introducing the coordinates, velocities, and accelerations of the nodes, deter- mined in Step 4, and the ... y s s0 = col(y s s ,y s 0 ) and the force at the MC of the manipulated object at the end of grip- 168 Multi-Arm Cooperating Robots Figure 30. Nominals for manipulated object...

Ngày tải lên: 10/08/2014, 05:20

... of time for the non-controlled object and of time and state for the controlled object. For the con- 200 Multi-Arm Cooperating Robots For a linear system of n x ordinary first-order differential ... torques τ ,andthe 204 Multi-Arm Cooperating Robots 203 elastic; ã in view of their redundanc y non-redundant, and redundant; ã in view of joint compliance with non-compliant joint...

Ngày tải lên: 10/08/2014, 05:20

... the behavior of the non-controlled quantities q v , F cv and F cs and calculated driving torques τ . The conclusion about the behavior of the non-controlled quantities will be de- rived on the basis ... the moment when the control- realized asymptotic tracking of the controlled quanti- ties Y 0 and q s takes place. The goal is to estimate or determine the deviations of the non-controll...

Ngày tải lên: 10/08/2014, 05:20

... dt ⎞ ⎠ 230 Multi-Arm Cooperating Robots The control laws synthesized in the preceding section ensure the vector of in- crements Y s0 = col(Y s ,Y 0 ) and its deriv atives have an exponentially de- scending ... indirectly given by (312) and (315), whereby the non-controlled quantities (kinematic quantities of the leader, contact forces and driving torques) will not be 228 Mult...

Ngày tải lên: 10/08/2014, 05:20

... but it is the cooperative system control. Control schemes ‘leader/follower control and ‘master/slave control [14, 50], ‘motion/force control [51, 52], ‘coordinated control [15, 53, 54], are synthesized ... considered as part of the elastic interconnections of the object and manipulators. The object and elastic intercon- 252 Multi-Arm Cooperating Robots ⎡ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎣...

Ngày tải lên: 10/08/2014, 05:20