Advanced Strategies For Robot Manipulators Part 2 docx

... 12 2 1 21 1 2 22 2 2 31 1 3 22 2 3 2cos( ) 2cos( ) 2cos( ) 2cos( ) 2 cos( ) 2 cos( ) LRD LRD LRD LRD LRD LRD α α α α α α =+ ⋅ =+ ⋅ =+ ⋅ =+ ⋅ =+ ⋅ =+ ⋅ (22 ) Advanced Strategies for Robot Manipulators ... A 2 are then obtained: 22 22 111 12 11 12 22 22 221 22 2 122 2cos 2cos ALL LL ALL LL θ θ =+−⋅⋅⋅ =+−⋅⋅⋅ (19) The control wires curvature radius R 1...

Ngày tải lên: 10/08/2014, 21:22

... magnet DC motors with the following parameters: 22 2 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 ... direct drive robot arm with the following parameters (Santibanez et al., 20 05): 22 2 2.351 0.168cos( ) 0.1 02 0.084cos( ) () 0.1 02 0.084cos( ) 0.1 02 qq Mq q...

Ngày tải lên: 10/08/2014, 21:22

... 1.60e-3 2. 18e-6 1.52e-7 Case 2 (η 2 ) 0.40 2. 20e -2 1.46e-3 8.49e -2 6 .22 e-3 Case 3 0.06 1.02e-1 1,76e -2 4.68e-5 7.60e-7 Case 4 1.00 3.3e-3 5.67e-4 9.35e-4 1.52e-5 Table 2. ζ min and PD gains. For ... et al., 20 08c) 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...

Ngày tải lên: 10/08/2014, 21:22

... FEM C-P P-P Rigid 2. 18 2. 2 2. 22 2 .24 -1. 524 5 -1. 524 -1. 523 5 -1. 523 (a) 0 1 2 3 4 5 -0.1 -0.08 -0.06 -0.04 -0. 02 0 0. 02 0.04 0.06 0.08 0.1 Time (s) Angular Position-Joint 2 (rad) FEM C-P P-P Rigid 2. 6 ... FEM C-P P-P Rigid 1.9 1.95 2 2.05 0.19 0 .2 0 .21 0 .22 0 .23 0 .24 (a) 0 1 2 3 4 5 -0.8 -0.6 -0.4 -0 .2 0 0 .2 0.4 0.6 0.8 Time (s) Angu...

Ngày tải lên: 10/08/2014, 21:22

... parallel manipulators, see for instance Carricato & Parenti–Castelli (20 02) , Kong & Gosselin (20 02b, 20 02c), Gosselin et al., (20 04), Gogu (20 05), Li et al., (20 05), Ruggiu (20 09) and ... symmetric bilinear forms 1. The Killing form, ($ 1 ; $ 2 ) = ˆ s 1 • ˆ s 2 2. The Klein form, {$ 1 ; $ 2 } = ˆ s 1 • s O2 + ˆ s 2 • s O1 It is said that the screws...

Ngày tải lên: 10/08/2014, 21:22

... compact expressions: The IDDP is obtained by differentiating the IDP: 22 2 2 3 /2 22 22 222 2 3 2 2 48() =(1 2) where 1 , 2 () () 4 4 xR r x aA A A A Rrx Rrx r r r r α −− += =− −− ⎛⎞ −− − − ⎜⎟ ⎝⎠ ... actuator constructed with n rhombuses: 2 234 22 2 22 3 2 11 =2 1 4 4 ax vxn r nr n r x nr α −− − ⎛⎞ −− ⎜⎟ ⎝⎠ − (53) Advanced Strategies for Robot Manipulato...

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... describes the platform motion in relation to its base. ( ) () ( )()( )()( )( ) 22 222 2 11 12 21 22 31 23 31 23 2 222 2 ipbixiyix ix i y i y ix i y i y ix i y ix i y l = X + Y + Z + r + r + r A + ... Engineering Science. Vol. 22 0(1). pp. 61- 72. Advanced Strategies for Robot Manipulators 190 Fig. 21 . Work space error a) Tracking error b) Disturbance reacti...

Ngày tải lên: 10/08/2014, 21:22

... Manipulators 20 4 ˆ = (|) { (2 2 )(|)} i f i vkk N Pkk κ +++X (29 ) 1 = 2( 2 2 ) i W N κ ++ (30) 22 ˆ = (|) { (2 2 )(|)} iN f i vkk N Pkk κ ++ −++X (31) 22 1 = , ( = 1, ,2 2) 2( 2 2 ) iN WiN N κ ++ + ++ " ... ( ′ t is a slow time compared to t), we can rewrite (20 )– (21 ) as ′  * = i d xKq dt (22 ) Advanced Strategies for Robot Manipul...

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 ... ΔΔΔΔ ΔΔ +++ + ++ + ++ ΔΔ ΔΔ ΔΔ Δ Δ Δ ΔΔ +++ +++ + = ………… ……… 22 2 2 2 22 2 22 2 11 1 21 2 1 12 1 22 2 2 2 1 2 22 222 2 222 12 1...

Ngày tải lên: 10/08/2014, 21:22

... as: 23 01 2 3 ()taatatat θ =+ + + (27 ) The angular velocity and acceleration can be found by differentiation, as follows: 2 12 3 () 2 3ta atat θ • =+ + (28 ) 23 () 2 6taat θ •• =+ (29 ) ... training contain meaningful information whereas before training they are random and have no meaning (Kalogirou, 20 01). Advanced Strategies for Robot Manipulators 3...

Ngày tải lên: 10/08/2014, 21:22