Industrial Robotics Theory Modelling and Control Part 7 pot

... 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 5 676 7 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 9 876 7891011 109 878 91011 11 10 9 8 9 10 11 ... is an ideal candidate for path p...

Ngày tải lên: 11/08/2014, 08:22

... Transactions of the ASME, Journal of Engineering for Industry, 159- 172 . 156 Industrial Robotics: Theory, Modelling and Control On the other hand, the wrist point position vector can be expressed as =+++++ GG ... ABB IRB2000 industrial robot, which has a closed chain, is obtained to show the applicability of the method to such ma- nipulators. 110 Industrial Robotics: Th...

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... knowledge base. 696 Industrial Robotics: Theory, Modelling and Control The fusion of the two parts, position control and the computation of the de- sired path, yields control from image data. This ... band- width-consuming camera images for shop floor visualization; 2. Transmitting only the sensor data and control commands between models and device controllers for rem...

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... Example motions and their keytimes [Spratley, 2006], (b) Structure of PM data representation for Verbs and Adverbs. 20 Industrial Robotics: Theory, Modelling and Control 2006]. Section 7. 1 in this ... [Holland, 2003]. 6 Industrial Robotics: Theory, Modelling and Control Figure 5. EPIC architecture [Meyer & Kieras, 19 97] . 3.Multiagent Systems 3.1 Multiage...

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... -20.04 Sol. No. 5 104.39 -72 .90 64. 57 24.26 85.22 2.38 Sol. No. 6 104.39 -72 .90 64. 57 -156. 27 -89.56 177 .24 Sol. No. 7 1 17. 07 -11.05 -72 .30 68.50 28.82 68.23 Sol. No. 8 1 17. 07 -11.05 -72 .30 -120.58 -33.16 ... -163.09 64. 67 86.12 -36.06 -130. 97 Sol. No. 2 -34.45 -163.09 64. 67 -85 .75 31 .73 58.63 Sol. No. 3 - 47. 14 -104.39 -72 .4 19.01 -84.81 154 .74 Sol. No. 4 - 47....

Ngày tải lên: 11/08/2014, 08:22

... on Advances in Robot Kinematics, Septem- ber 7- 9, 1992, Ferrara, Italy, pp. 150-156. 232 Industrial Robotics: Theory, Modelling and Control spine and hence it can theoretically span a half circle ... the end-effector, the spine and Cable 3 are concurrent at point E which is located somewhere between Cables 1 and 2. 244 Industrial Robotics: Theory, Modelling and...

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... 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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... 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. ... is given by Fig 10. 544 Industrial Robotics: Theory, Modelling and Control 5. Model-based Feedforward control The basics for implementing model-based feedforward...

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... -3,10E-18 -3,10 077 E-18 gm a -9,32E-19 1,15E-18 2, 078 2E-18 X 4 ,70 E-01 4 ,71 E-01 0,0011 179 6 Y -1 ,75 E+00 -1 ,75 E+00 -0,00 277 37 Z -5,96E- 17 -1,01E-03 -0,001012624 afa 5,05E-03 5,05E-03 1 ,72 86E-06 bta ... -1.423 0.0 073 -0.8206 -360 0 0 -1.4246 -0.0099 -0 .78 93 -180 0 0 -0 .76 8 0.0184 -0.44 -180 0 0 -0 .71 94 0.0518 -0.4242 -360 0 0 -1.43 57 0.0 577 -0 .79 22 0 - 275 25 0.006...

Ngày tải lên: 11/08/2014, 09:20