Advanced Strategies For Robot Manipulators Part 10 docx

... example, the reference command filter is 2 2 100 0 36 100 . 100 0 36 100 r ss P ss ⎡ ⎤ ⎢ ⎥ ++ = ⎢ ⎥ ⎢ ⎥ ⎢ ⎥ ++ ⎣ ⎦ (9) Advanced Strategies for Robot Manipulators 290 If the Cartesian coordinates ... implementation on standard numerical hardware even for robot arms of many Degrees of Advanced Strategies for Robot Manipulators 284 0 1 2 3 4...

Ngày tải lên: 10/08/2014, 21:22

... Considering 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 Manipulators 46 Proposition: ... d s d s q θ s s q e e θ - + s s q θ Advanced Strategies for Robot Manipulators 32 1 2 3 120 240 αα α α α α =− ⎧ ⎪ = °− ⎨ ⎪ = °− ⎩ (8) Obviously the equat...

Ngày tải lên: 10/08/2014, 21:22

... 4 -100 -80 -60 -40 -20 0 20 40 60 80 100 Time (sec) Input torques (Nm) Fig. 15. The control torques in the case of SFC Advanced Strategies for Robot Manipulators 144 0 2 4 6 8 10 -100 0 100 200 time(sec) input1 ... Advanced Strategies for Robot Manipulators 170 Fig. 28. (sim2) NN control effort Fig. 29. (sim2) Matrix norm of adaptive weigh...

Ngày tải lên: 10/08/2014, 21:22

... 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 each motor is obtained as: ... been neglected. Advanced Strategies for Robot Manipulators 10 0 1 2 3 4 5 -1 -0.5 0 0.5 1 x 10 -4 Time (s) Mode Shape - Link 1 (m) P-P C-P (a) 0 1 2 3...

Ngày tải lên: 10/08/2014, 21:22

... Mittal and I. J. Nagrath, Robotics and Control; 2005, Tata McGraw Hill [24] Robot and Robotic Glossary, http://www.kcrobotics.com /robot_ information /robot_ glossary.php [25] Robot End Effector, http://en.wikipedia.org/wiki/End_effector ... micro-manipulator for surgery, deisgned by Francesco Cepolina, [4] & [7] (b)NeuroMaster, a stereotactic neurosurgery robot system by Bei...

Ngày tải lên: 10/08/2014, 21:22

... 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...

Ngày tải lên: 10/08/2014, 21:22

... 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. Robotics ... Stewart Platform with Pro/E. 10th IEEE International Conference on Computer-Aided Design and Computer Graphics. pp. 533 - 536. Advanced Strategies for Robot Manipulators...

Ngày tải lên: 10/08/2014, 21:22

... 5 -6 -4 -2 0 2 4 6 8 x 10 -3 u(t, ℓ), ˆu(t, ℓ) Time t [ s ] u ( t, ℓ) , ˆ u ( t, ℓ) [m] Fig. 10. Displacement of the tip mass u(t, ℓ) and its estimate ˆ (,).utA Advanced Strategies for Robot Manipulators ... Preliminaries 2.1 Robot dynamics The dynamics of a serial n–link rigid robot, without the effect of friction, can be written as (Spong & Vidyasagar, 1989):...

Ngày tải lên: 10/08/2014, 21:22

... ∞ for i = 1,2, . . . ,n; therefore W( q  )→ ∞ as & q  & → ∞, which proves that W 1 ( q  ) is radially unbounded. Advanced Strategies for Robot Manipulators 238 0246 810 − 100 −80 −60 −40 −20 0 τ 1 [Nm] t ... with bounded torques for robot manipulators, IEEE Transactions on Industrial Electronics, Vol. 45, pp. 126–133. Advanced Strategies for Ro...

Ngày tải lên: 10/08/2014, 21:22

... 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 ... after training contain meaningful information whereas before training they are random and have no meaning (Kalogirou, 2001). Advanced Strategies for Robot Manipulato...

Ngày tải lên: 10/08/2014, 21:22