Industrial Robotics Theory Modelling and Control Part 6 ppt

... Neuro-Fuzzy Adaptive Modelling and Control, Prentice-Hall, UK. 314 Industrial Robotics: Theory, Modelling and Control The output variable of this unit is an acceleration command j vΔ , and can be considered ... robot and the goal configuration j g d . 300 Industrial Robotics: Theory, Modelling and Control Liu, X J., Kim, J. and Wang, J. (2002). Two novel p...

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... Example motions and their keytimes [Spratley, 20 06] , (b) Structure of PM data representation for Verbs and Adverbs. 20 Industrial Robotics: Theory, Modelling and Control 20 06] . Section 7.1 ... the contents of ISAC’s short-term and long-term memory systems during the training portion of the simulation. 16 Industrial Robotics: Theory, Modelling and Control...

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... -0.0871557 0.02255 767 0.9848077 -1.0 -9.0 8.0 z 2 -0.9 961 9 46 0.0001274 -0.0871557 5.0 -5.0 198.0 z 3 -0.9 961 947 0.05233595 0. 069 6 266 -68 .0 438.0 195.0 z 4 0.02233595 -0.9993908 0.0 268 1 566 -130.5 ... 174 Industrial Robotics: Theory, Modelling and Control =− θ + θ + ρ θ 3 2 2 4 23 6 23 rasindcos sin (108) Here, ρ =θ 65 4 d sin (109) According to T9 in Appen...

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... » » » ¼ º « « « ¬ ª = » » » ¼ º « « « ¬ ª − +−+ −−− == 333231 232221 131211 565 65 5 464 65 464 654 5 464 65 464 654 3 6 33 6 rrr rrr rrr csscs ssccscsscccs sccssccssccc sph sph sph RRRR (15) 248 Industrial Robotics: Theory, Modelling and Control is the change ... (3), and T sph 6 is: » » » » ¼ º « « « « ¬ ª − +−+ −−− = 1000 0 0 0 565 65 5 464 65 464 654 5 464 65 464...

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... are J1=84.7 0 , J2=-3 .6 0 , J3=38.8 0 , J4=-0.3 0 , J5=50 .6 0 and J6=-110.2 0 . Load F x =- 360 N And the measured deformation is 60 8 Industrial Robotics: Theory, Modelling and Control Differentiating ... -1,72E+00 0,001 768 8 Z -5,96E-17 -1,03E-03 -0,001032 565 afa 5,07E-03 5,08E-03 6, 0 465 E- 06 bta 4 ,66 E-19 -6, 39E- 16 -6, 39425E- 16 gm a -9,32E-19 9,59E- 16...

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... R.China I-Ming Chen School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore Spyros G. Tzafestas Intelligent Robotics and Automation Laboratory National Technical ... Goto Saga University Japan Mehrdad Moallem Department of Electrical & Computer Engineering University of Western Ontario Canada Luis Filipe Baptista Department of Marine Enginee...

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... )0,0,0],1,0,0s,c([Q 66 1 6 ><><−= − (92) The quaternion vector products are ( ) ><><θθ== 0,0,0],1,0,0s,c[QM 66 66 (93) )0,0,0],sc,cs,ss,cc([MQM 65 6 565 6 565 5 ><><== ... Industry, 159-172. 1 56 Industrial Robotics: Theory, Modelling and Control On the other hand, the wrist point position vector can be expressed as =+++++ GG G G G...

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... 0 2 q 1 q (degree) (degree) 1 1 1 1 2 2 2 2 2 2 2 2 3 3 3 3 3 3 3 3 3 3 3 3 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 5 5 5 5 5 5 5 55 5 5 5 5 5 5 5 66 66 6 6 6 6 6 6 6 6 6 6 6 6 7 7 7 77 7 7 7 7 7 7 7 7 567 67 8 8 8 8 8 8 8 89 9 9 9 9 9 910 10 10 10 10811 11 9 11 11 11 12 12 10 8 12 12 13 11 9 7 13 13 13 98 767 891011 10987891011 11 ... 2 1 211 1 11 1 1111 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1...

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... access the data and rule bases. 440 Industrial Robotics: Theory, Modelling and Control In pure adaptive control laws, parameters are updated in time and there is no additional control input. ... 15(b). Control signals for different error fuzzy set definitions. 454 Industrial Robotics: Theory, Modelling and Control CʌıdtYʌ ˆ T1 +Γ+Γ=Γ ³ − (83) In Equation (...

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... mixed-motion LM-PM. 554 Industrial Robotics: Theory, Modelling and Control 6. Conclusions This chapter presented a uniform and coherent methodology for model-based control of industrial robots. ... Confernce on Robotics & Automation , pp.4 96- 502, Washington (DC, USA), May 2002 552 Industrial Robotics: Theory, Modelling and Control path velocity is only...

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