Industrial Robotics Theory Modelling and Control Part 10 pdf

... training is given by Fig 10. 544 Industrial Robotics: Theory, Modelling and Control 5. Model-based Feedforward control The basics for implementing model-based feedforward control are now achieved. ... mixed-motion LM-PM. 554 Industrial Robotics: Theory, Modelling and Control 6. Conclusions This chapter presented a uniform and coherent methodology for model-b...

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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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... 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. 816 Industrial Robotics: Theory, Modelling and Control servo controller adopts P and PI type cascade control, the P controller is ... Photo 1. Robotic sandin g s y stem. Photo 2 Air-driven sandin g tool. 776...

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... intelligence, unable to learn and think for themselves due to the procedural nature of most software control code. 14 Industrial Robotics: Theory, Modelling and Control 5.1 Short-term memory: ... complexity of the software necessary to process sensory information and to control action pur- 28 Industrial Robotics: Theory, Modelling and Control purple; toy type=...

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... θα= −− − » » » » ¼ º « « « « ¬ ª » » » » ¼ º « « « « ¬ ª θθ θ−θ » » » » ¼ º « « « « ¬ ª » » » » ¼ º « « « « ¬ ª αα α−α = − −− −− 100 0 d100 0 010 0001 100 0 0100 00cs 00sc 100 0 0100 0 010 a001 100 0 0cs0 0sc0 0001 i ii ii1i 1i1i 1i1i » » » » ¼ º « « « « ¬ ª αααθαθ α−α−αθαθ θ−θ = −−−− −−−− − 100 0 dccscss dsscccs a0sc i1i1i1ii1ii i1i1i1ii1ii 1iii ... ABB IRB2000 industrial robot...

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... 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 Appendix C, Equations (107 ) and (108 ) ... 1.1. 178 Industrial Robotics: Theory, Modelling and Control However, in this particular manipulator, the four-link mechanism happens to be a parallelogram mechanism s...

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... Vol. 10, 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 ... 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 Co...

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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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... 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 10 108 11 11 9 11 11 11 12 12 10 8 12 12 13 11 9 7 13 13 13 987678 9101 1 109 878 9101 1 11 10 9 8 9 10 11 12 12 12 12 12 11 10 9 10 11 12 13 1...

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... 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 608 Industrial Robotics: Theory, Modelling and Control Differentiating Equation (20), ... position of active drive angles: θ 1 , θ 2 and θ 3 . Change the format of Equations (1), (2) and (3) into: 614 Industrial Robotics: Theory, Modelling and Contro...

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