Advanced Strategies For Robot Manipulators Part 6 docx

... content. Advanced Strategies for Robot Manipulators 168 (a) (b) Fig. 26. (sim2) Tracking error of joints (a) FSM_PID (b) NNSM_PID Sliding Mode Control of Robot Manipulators ... open left half Advanced Strategies for Robot Manipulators 166 (a) (b) Fig. 24. (sim1) Control commands (a) FSM_PID (b) NNSM_PID Sliding Mode Control of R...

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... parameters (classic Advanced Strategies for Robot Manipulators 26 Usoro P.B.; Nadira R., Mahil S. S. (19 86) . A finite element/Lagrange approach to modelling lightweight flexible manipulators, ... again the equation (10) for the first and second wires, we can write: 1122 cos( ) cos( ) ww LR LR θ αθα +Δ ⋅ ⋅ = +Δ ⋅ ⋅ (12) Advanced Strategies for Robot Manipu...

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... Case 1 (η 1 ) 0.40 2.25e-2 1 .60 e-3 2.18e -6 1.52e-7 Case 2 (η 2 ) 0.40 2.20e-2 1.46e-3 8.49e-2 6. 22e-3 Case 3 0. 06 1.02e-1 1,76e-2 4 .68 e-5 7 .60 e-7 Case 4 1.00 3.3e-3 5 .67 e-4 9.35e-4 1.52e-5 Table ... implementation on 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...

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... those 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 .6 -1.58 -1. 56 -1.54 -1.52 -1.5 Time (s) Angular ... 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 o...

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... p380-3 86, ISBN 978-0- 769 5-40 16- 0, Advanced Strategies for Robot Manipulators 72 [ 26] Robot Glossary – Industrial Terminology Defined, http://www.robots.com/glossary.php [27] Robotic ... estimation for continuum robots using vision, Robotica, volume 23, pp. 64 5 65 1. Hemami, A, (1984). Design of light weight flexible robot arm, Robots 8 Conference Proceedi...

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... The double rhombus For the double rhombus, the minimum position is determined by: ( ) ( ) = 4 cos 2arccos min w r xr (75) Advanced Strategies for Robot Manipulators 1 36 uncertainties may ... in the discontinuous part of the control law: 1 1 s ss sat s s ϕ κ ϕ ϕϕ ϕ ⎧ ≥ ⎪ ⎛⎞ ⎪ = −<< ⎨ ⎜⎟ ⎝⎠ ⎪ ⎪ −≤− ⎩ (19) Advanced Strategies for Robot Manipulators...

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... considered (Fig. 6 and Fig. 7) (Hunt, 1978)(Jaramillo et al, 20 06) (Ghobakhloo, Eghtesad & Azadi, 20 06) . Advanced Strategies for Robot Manipulators 1 76 This transformation matrix allows ... pp.59 -63 . Advanced Strategies for Robot Manipulators 1 96 Jaramillo-Botero, A.; Matta-Gomez, A.; Correa-Caicedo, J. F. & Perea-Castro, W. (20 06) . Robot...

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... results, Journal of the Robotics Society of Japan Vol. 7(No. 6) : 7 06 711. 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 ... t σ − (63 ) where F is the nonlinear controller gain; and sgn(·) the signum function. Therefore, the control input f (t) is given by Advanced Strategies for Robo...

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... with bounded torques for robot manipulators, IEEE Transactions on Industrial Electronics, Vol. 45, pp. 1 26 133. Advanced Strategies for Robot Manipulators 240 02 468 10 − π/2 − π/4 0 ˜q 1 [rad] t ... torques for the Sat(Sat(P)+PI) scheme Advanced Strategies for Robot Manipulators 242 Arimoto, S. & Miyazaki, F. (1984). Stability and robustness of P...

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... a performance index for overall speed control (IAE v ) in which the formula is as follows, see (Marlin, 2000): 90 0 () () v IAE SP t PV t dt=− ∫ (4) Advanced Strategies for Robot Manipulators ... Transaction Syst., Man, Cybernetics. 19 86; 16: 93–101. Advanced Strategies for Robot Manipulators 298 ANNs while implemented on computers are not programmed to pe...

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