Advanced Strategies For Robot Manipulators Part 1 pdf

... Robot Configuration Advanced Strategies for Robot Manipulators 18 where the final bound of control for each motor is obtained as: 12 22 212 222 11 111 111 11 xSu;xSu xSu;xSu −τ−=−τ= −τ−=−τ= −+ −+ ... presented in (Usoro, 19 86). Link - 1 Link - 2 90)0( 1 −=θ 5)0( 2 =θ g X Y Fig. 2. Initial robot configuration 0 1 2 3 4 5 -1. 66 -1. 64 -1. 62 -1....

Ngày tải lên: 10/08/2014, 21:22

... by 11 2 1 112 1 $$ $= nn n n m m n m n m nn n n m m O ωω ω +++ − +++ − ++++   … AL (16 ) where 11 2 1 112 1 =[ $ $ $ ] nm nn n n m m nn n n m m ωω ω +++ − +++ − ++…L 12 23 1 12 2 3 1 [$ ... ready to perform the visual servoing tasks. 0 0.5 1 1.5 0 5 10 15 FRx1 f α, ( ) FRx0 f α, ()− α 0 0.5 1 1.5 0 1 2 3 4 5 6 FRx2 f α, ( ) FRx0 f α, ()− α Advanced Strate...

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... Manipulator 23 -1 0 1 2 3 0.5 1 1.5 2 2.5 3 x(m) y(m) Robot Configuration Case 1 -1 0 1 2 3 0.5 1 1.5 2 2.5 3 x(m) y(m) Robot Configuration Case 4 Fig. 17 . Robot Configuration 0 0.5 1 1.5 2 2.5 -50 0 50 Time ... Automation, pp. 311 1- 311 6 Papadopoulos E. & Gonthier, Y. (19 99) A framework for large-force task planning of mobile redundant manipulators,...

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... discontinuous part of the control law: 1 1 s ss sat s s ϕ κ ϕ ϕϕ ϕ ⎧ ≥ ⎪ ⎛⎞ ⎪ = −<< ⎨ ⎜⎟ ⎝⎠ ⎪ ⎪ −≤− ⎩ (19 ) Advanced Strategies for Robot Manipulators 12 6 Taking the FKP, equation 14 , the ... provide for seven revolute joints for Σj i = 7 ∗ 1 = 7 and two closed loops for n = 2. The resulting mobility: m = 7 − 3 ∗ 2 = 1 which is verified by experimen...

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... magnet DC motors with the following parameters: 222 2 11 2 1 2 12 2 2 2 12 2 22 22 12 2 22 21 2 2 2 21 2 2 1 2 21 2 2 1 11 1 21 1 22 1 (2cos)(cos) () (cos) sin( ) sin( )( ) (,) sin( ) 0 cos ... q Cqq qq −−+ ⎡ ⎤ = ⎢ ⎥ ⎣ ⎦    11 2 12 3.921sin( ) 0 .18 6sin( ) ( ) 9. 81 0 .18 6sin( ) qqq Gq qq ++ ⎡ ⎤ = ⎢ ⎥ + ⎣ ⎦ 11 11 2222 2.288 8.049s g n( ) 1 s g n( ) sat(...

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... Control Strategies of a 6 DOF Parallel Manipulator Using a Mechatronic Approach 18 1 11 11 11 11 22 2 22 2 1 11 1 11 u NN NN NN NN NN N NN NN gg gg gg g − ++ + −−+ ⎡ ⎤ ⎢ ⎥ ⎢ ⎥ = ⎢ ⎥ ⎢ ⎥ ⎢ ⎥ ⎣ ⎦ G "" "" """" " ... matrix form: 11 ˆ () () 1 qyt q ut −− = ++Δ−yGuif ()ih ( )  (20) ith: 11 1 () () () 12 11 1 () () ()...

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... Journal of the Robotics Society of Japan Vol. 7(No. 6): 706– 711 . Advanced Strategies for Robot Manipulators 212 0 1 2 3 4 5 0 0 .1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 x 10 -11 Collision ... + ⎢ ⎥ ⎡⎤ ⎢⎥ ∂ ⎢ ⎥ ⎢⎥ ⎣⎦ ⎢ ⎥ ⎢⎥ ⎢ ⎥ ⎢⎥ ′ ⎢ ⎥ ⎢⎥ −− − ++ − ⎢ ⎥ ⎢⎥ ⎣⎦ ⎢ ⎥ −−− − −− ⎣ ⎦ * 1 211 1 1 11 1 1 2 2 11 22 11 () [()] = . ( ())[[[( ()) ()] ] ( ( ), ) ( ( ))...

Ngày tải lên: 10/08/2014, 21:22

... ⎥ ⎢ ⎥⎢ ⎥ ⎣ ⎦⎣ ⎦ …… ……     …… 22 2 11 21 1 12 11 21 22 1 2 11 1 21 2 1 22 2 2 2 2 2 2 2 12 1 2 1 2 22 2 12 11 21 22 1 2 12 22 2 12 1 22 2 222 2 12 12 1 nnnnnnnn nnn nn n n nn gg g gggg gg ... Advanced Strategies for Robot Manipulators 246 = [ ] A wv− Aw v≤− where 11 1 22 2 11 1 12 == = 11 1 22 2 12 == = 22 2 12 == =...

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... al., 2008c) for PF .1 is designed on the basis of S.2 1 1 ,1 1 ,1 1 1, 2 2 1, 1 1 1,2 2 2 2 ,1 2 ,1 1 2,2 2 2 ,1 1 2,2 2 () ( ) () ( ) uLK K LL uLK K LL ε εω ω ε εϑ ϑ =− + +ξ+ξ =− + +ζ+ζ (13 ) where ... ) : ( 0.4) 10 0( ) min ddkk ζ kk η =−+ + (11 ) where d i ’s and k i ’s are bounded as 2 .18 e-5 ≤ d 1 ≤ 2 .18 e1, 1. 52e-6·≤ d 3 ≤ 1. 52, 2 .18 e-6 ≤ k 1 ≤ 2 .1...

Ngày tải lên: 10/08/2014, 21:22

... contain meaningful information whereas before training they are random and have no meaning (Kalogirou, 20 01) . Advanced Strategies for Robot Manipulators 312 Fig. 1. Basic configuration ... every 0. 01 sec, and filtered by 30-point FIR. Advanced Strategies for Robot Manipulators 320 Fig. 10 . Block diagram of fuzzy-logic-based self-tuning PI for...

Ngày tải lên: 10/08/2014, 21:22