Industrial Robotics Theory Modelling and Control Part 8 pdf
Industrial Robotics Theory Modelling and Control Part 8 pdf
... 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 (83 ),
π
ˆ
and DZ are unknown and ... access the data and rule bases.
440 Industrial Robotics: Theory, Modelling and Control
In pure adaptive control laws, parameters are updated in time and th...
Industrial Robotics Theory Modelling and Control Part 10 pdf
... 1990; Khalil & Dombre, 2002) and in (Grotjahn &
5 38 Industrial Robotics: Theory, Modelling and Control
neglected like it is almost always assumed in control application for such ro-
bots ... mixed-motion LM-PM.
554 Industrial Robotics: Theory, Modelling and Control
6. Conclusions
This chapter presented a uniform and coherent methodology for model-based...
Industrial Robotics Theory Modelling and Control Part 14 pdf
...
where
.
00
0
0
00
/
2
/
1
/
¸
¸
¸
¸
¸
¸
¸
¹
·
¨
¨
¨
¨
¨
¨
¨
©
§
−
−
−
n
Tt
Tt
Tt
At
e
e
e=e
"
%%#
#%
"
(15)
and
),,1( niT
i
"= are the time constants.
81 6 Industrial Robotics: Theory, Modelling and Control
servo controller adopts P and PI type cascade control, the P controller is ... position loop gain, velocity loop gain
and torque constant, respectively (...
Industrial Robotics Theory Modelling and Control Part 1 ppt
... complexity of the
software necessary to process sensory information and to control action pur-
28 Industrial Robotics: Theory, Modelling and Control
purple; toy type=Barney doll, Lego). ISAC was given ... intelligence, unable to
learn and think for themselves due to the procedural nature of most software control code.
14 Industrial Robotics: Theory, Modelling an...
Industrial Robotics Theory Modelling and Control Part 3 pot
... using the vector
116 Industrial Robotics: Theory, Modelling and Control
Mruthyunjaya, T.S. (1 984 -c). A computerized methodology for structural syn-
thesis of kinematic chains: Part 3-Application ... assigned as θ
i
(Craig, 1 989 ).
The general transformation matrix T
1i
i
−
for a single link can be obtained as fol-
lows.
1 28 Industrial Robotics: Theory, Modelling an...
Industrial Robotics Theory Modelling and Control Part 4 ppt
... -0. 087 1557 0.02255767 0. 984 8077 -1.0 -9.0 8. 0
z
2
-0.9961946 0.0001274 -0. 087 1557 5.0 -5.0 1 98. 0
z
3
-0.9961947 0.05233595 0.0696266 - 68. 0 4 38. 0 195.0
z
4
0.02233595 -0.99939 08 0.02 681 566 ... 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. 7 117.07 -11.05 -72.30 68. 50 28. 82 68. 23
Sol. No. 8 117.07 -11.05 -72.30 -120. 58 -...
Industrial Robotics Theory Modelling and Control Part 5 ppt
...
Issue 1, pp. 83 -89 .
246 Industrial Robotics: Theory, Modelling and Control
KS 6
KS 7
KS 8 KS 9
KS 10
Figure 6. Zero-Displacement Diagrams for Layouts with Two Revolute Joints and One
Prismatic ... 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...
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 ... is primarily based on some recent results
332 Industrial Robotics: Theory, Modelling and Control
Kuipers, B. & Levitt, T. (1 988 ). Navigation and...
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
56767
8
8
8
8
8
8
8
89
9
9
9
9
9
910
10
10
10
1 081 1
11
9
11
11
11 12
12
10
8
12
12
13
11
9
7
13
13
13
987 6 789 1011
10 987 891011
11 10 9 8 9 10 11 12
12
12
12
12 11 10 9 10 11 12 13
12...
Industrial Robotics Theory Modelling and Control Part 11 ppt
... conditions 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
=-360N
And the measured deformation is
6 08 Industrial Robotics: Theory, Modelling and Control
Differentiating ... -0 .82 06
-360 0 0 -1.4246 -0.0099 -0. 789 3
- 180 0 0 -0.7 68 0.0 184 -0.44
- 180 0 0 -0.7194 0.05 18 -0.4242
-360 0 0 -1.4357 0.0577 -0.7922
0 -275 25 0.00...
Từ khóa: