Automation and Robotics Part 10 ppt

... equivalent control method SMO and the modified Utkin SMO are designed and implemented. Some numerical simulations and real experiments are provided. Automation and Robotics 232 3. LQG/LTR ... (14) Automation and Robotics 238 62 62.5 63 63.5 64 64.5 65 65.5 66 66.5 67 -10 -5 0 5 10 15 Time [sec] Angle [deg] Real (measured) arm angle Estimated arm angle...

Ngày tải lên: 10/08/2014, 22:24

... robot Sony ers- 210, Proceedings of IEEE Conference on Robotics and Automation, pp. 2768-2774. Chevallereau, C. & Aoustin, Y. (2001). Optimal reference trajectories for walking and running ... notation for open and closed loop robots, Proceedings of IEEE Conference on Robotics and Automation, pp. 1174-1180. Khalil, W. & Dombre, E. (2002). Modeling, identification...

Ngày tải lên: 11/08/2014, 04:21

... [m] -1 -0.5 0 0.5 1 y [m] 0 5 10 15 θ [rad] 1 0 5 10 15 20 25 30 0 5 10 15 20 25 30 0 5 10 15 20 25 30 0 5 10 15 20 25 30 0 5 10 15 θ [rad] 2 0 5 10 15 20 25 30 0 5 10 15 θ [rad] 3 Time [sec] Fig. 10 Simulation ... Library. Automation and Robotics, Edited by Juan Manuel Ramos Arreguin p. cm. ISBN 978-3-902613-41-7 1. Automation. 2. Robotics. I. Ramos Arreguin...

Ngày tải lên: 10/08/2014, 22:24

... 0 aa aa aa aa +=+ = > += + = > +=+=> +=+=> and 11 1 12 1 210 10 10 24 12 20 1 ˆ ˆ , 1 1 1 1 01 01 01 1 1 1 1 01 3 100 010 00 ˆ 0100 01 00 BC D −− − −− −− ⎡⎤⎡⎤⎡⎤⎡⎤⎡⎤⎡⎤⎡⎤⎡⎤ ==== ⎢⎥⎢⎥⎢⎥⎢⎥⎢⎥⎢⎥⎢⎥⎢⎥ ⎣⎦⎣⎦⎣⎦⎣⎦⎣⎦⎣⎦⎣⎦⎣⎦ ⎡⎤⎡⎤⎡⎤⎡⎤ == ⎢⎥⎢⎥⎢⎥⎢⎥ ⎣⎦⎣⎦⎣⎦⎣⎦ ... ⎦⎣ ⎦ ⎣ ⎦ − ⎡⎤ = ⎢⎥ − ⎣⎦ are the Metzler matrices and 1 1 1 12 12 10 10 1 ˆ 11 1101 01 3 10 24 12 20 ˆ 01 1 1 1 1 01 10...

Ngày tải lên: 10/08/2014, 22:24

... (5), the torques and forces of the actuators for a given trajectory are computed, and thus produce the desired movement of the elastic parallel manipulator. Automation and Robotics 252 ... function of the tree structure and Q t is the function of the dissipative energy. This Lagrange function consists of the kinetic and potential energy of the Automation and Robo...

Ngày tải lên: 10/08/2014, 22:24

... plant configuration The press and mixer machines are constructed mainly of mechanical and electrical parts and devices, incorporating electrical boards, PLC units and other electronic equipment. ... co-energy vector, ()∈ℜ m d zt the derivative co-energy and () ∈ ℜ r in Dt and () ∈ ℜ r out Dt are a mixture New Approaches in Automation and Robotics 292 12=− e VV, then...

Ngày tải lên: 12/08/2014, 03:20

... derived as equations (3) and (4), which are 4 × 4 matrices. ⎥ ⎥ ⎥ ⎥ ⎦ ⎤ ⎢ ⎢ ⎢ ⎢ ⎣ ⎡ Δ Δ = 100 0 0100 010 001 y x T (3) ⎥ ⎥ ⎥ ⎥ ⎦ ⎤ ⎢ ⎢ ⎢ ⎢ ⎣ ⎡ Δ ΔΔ Δ−Δ = 100 0 100 00cossin 00sincos θ θθ θθ R ... Desktop\New Approaches in Automation and Robotics 384 0 PC}C)T{R(P tc = − + − (8) The plus direction between the mathematical coordinate and vision can be reverse,...

Ngày tải lên: 12/08/2014, 03:20

... analysis of properties and structure of optimal algorithm and for searching of optimal switch point positions of control vector particularly. 448 Frontiers in Robotics, Automation and Control analysis ... increases with increasing size and complexity of the designed circuit. This optimal strategy and corresponding design’s trajectory were obtained using special search proce...

Ngày tải lên: 11/08/2014, 04:20

... Frontiers in Robotics, Automation and Control 76 The tests were carried out for 12 different grinding conditions, and subsequently the burn degrees (no-burn, slight burn, medium burn, and severe ... *#?/*&* #02 *%#0 )$ 2/ #10) 3%3 /0 +%34% -) Frontiers in Robotics, Automation and Control 82 Aguiar, P. R.; França, T. V. & Bianchi, E. C. (2006a). Roughness and...

Ngày tải lên: 11/08/2014, 04:21

... current particle is allotted a random value between 0 and 1. A particle will carry out the disturbance sequence if its random value is less than a disturbance rate d P . A disturbance particle ... all particles are outputted. Fig. 2. The flowchart of the proposed algorithm 5. Simulations and Results 5.1 Description and Parameters Setting Frontiers in Robotics, Automatio...

Ngày tải lên: 11/08/2014, 04:21