Advanced Strategies For Robot Manipulators Part 5 potx

... 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 experiments. Advanced Strategies for Robot Manipulators ... 4.4.1 The double rhombus For the double rhombus, the minimum position is determined by: ( ) ( ) = 4 cos 2arccos min w r xr ( 75) Advanced Strategies for...

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... 100.0 60.0 60.0 50 .0 35. 0 30.0 [1/s] K ip 0.01 0.01 0.3 0.01 0 .5 0.01 0.01 [1/s 2 ] K pv 90.0 150 .0 35. 0 85. 0 10.0 6.0 12.0 [Nm s/rad] * p i l 0. 95 0. 95 1. 75 1. 75 5 .5 5 .5 5 .5 [rad/s] * p i m ... Advanced Strategies for Robot Manipulators 260 Ono, K., Yamamoto, K. and Imadu, A. Control of giant swing motion of a two-link horizontal bar gymnastic r...

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... -0 .5 0 0 .5 1 1 .5 2 2 .5 0 .5 1 1 .5 2 2 .5 3 x(m) y(m) Robot Configuration Fig. 10. Robot Configuration Advanced Strategies for Robot Manipulators 18 where the final bound of control for ... assumed to be 1 Kg. 0 0 .5 1 1 .5 2 2 .5 -1 .5 -1 -0 .5 0 0 .5 Time (s) Angular Velocity-Joint 1 (rad/s) case 1 case 2 case 3 case 4 0 0 .5 1 1 .5 2 2 .5...

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... 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 ... 4, pp. 338–342, 1987. Advanced Strategies for Robot Manipulators 22 -1 -0 .5 0 0 .5 1 1 .5 2 2 .5 0 .5 1 1 .5 2 2 .5 3 x(m) y(m) case 1 case 2 c...

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... 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 Strategies for Robot Manipulators 54 ... Mittal and I. J. Nagrath, Robotics and Control; 20 05, Tata McGraw Hill [24] Robot and Robotic Glossary, http://www.kcrobotics.com /robot_ information /robot_ glossary...

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... 0 0 .5 1 1 .5 2 2 .5 3 3 .5 4 -4 -3 -2 -1 0 1 2 3 4 Time(sec) Error (rad) Fig. 16. Error vector in the case of incorporating SMC and SFC 0 0 .5 1 1 .5 2 2 .5 3 3 .5 4 -100 -50 0 50 100 150 Time(sec) Input ... the enlarged graphs have been provided in Fig. 7 and 8. Advanced Strategies for Robot Manipulators 154 0 0 .5 1 1 .5 2 2 .5 3 3 .5 4 -4 -3...

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... pp .59 -63. Advanced Strategies for Robot Manipulators 196 Jaramillo-Botero, A.; Matta-Gomez, A.; Correa-Caicedo, J. F. & Perea-Castro, W. (2006). Robotics Modeling and Simulation Platform. ... Conference on Computer-Aided Design and Computer Graphics. pp. 53 3 - 53 6. Advanced Strategies for Robot Manipulators 198 sensors for measuring the contact ev...

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... ( ). pdd Kq x gq gq q q h x + +−−≡⇒≡Sat Sat  Advanced Strategies for Robot Manipulators 214 0 1 2 3 4 5 -2 -1 .5 -1 -0 .5 0 0 .5 1 Control Input Time t [ s ] τ ( t ) [N · m] ... Flexible Manipulators Based on Unscented Kalman Filter 207 ()=0.t σ  (55 ) The equivalent control input is obtained using (50 ), (53 ) and (55 ) as: 1 ()= ( ) (). eq e...

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... standard numerical hardware even for robot arms of many Degrees of Advanced Strategies for Robot Manipulators 284 0 1 2 3 4 5 6 7 8 9 10 −0 .5 0 0 .5 1 1 .5 time (s) displacements (rad) 0 ... Powered by PD Control 2 85 0 1 2 3 4 5 6 7 8 9 10 −0.1 −0. 05 0 0. 05 0.1 time (s) errors (rad) 0 to π/3 rad   e 1 e 2 e 3 e 4 0 1 2 3 4 5 6 7 8 9 10 −0.1 −0...

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... elements for position and speed are implemented in the Simulink diagram with specifications as follows: A P =1 A v =0.002 K v =9 .54 55 Hv=0.002 H P =0.0 05 K P =0.0 05 Advanced Strategies for Robot ... 39. 75% 0.907% 2.183% θ Joint 3 ω 2.607% 5. 03% 1.033% 1.7 75% θ Joint 4 ω 9.82% 10.4% 2.0 15% 2.342% θ Joint 5 ω 8.47% 19.94% 4.4 35% 1 .55 8%...

Ngày tải lên: 10/08/2014, 21:22