Industrial Robotics Theory Modelling and Control Part 11 ppt

... this case, z DPz 3 = and only one Equation is available, PzcePybPxa ⋅−=⋅+⋅ 111 1 i.e. 21 111 1 /)( fPzfPxf bPxaPzcePy y ++= ⋅−⋅−= 624 Industrial Robotics: Theory, Modelling and Control Fx Fy Fz ... 2/)()()()( 21 2 12 2 22212121 ddaaPzDDPyDDPxDD zzyyxx −+−=−+−+− Let 2/)( 21 2 12 2 221 211 211 211 ddaae DDc DDb DDa zz yy xx −+−= −= −= −= Substitutes into Equation (10): 11...

Ngày tải lên: 11/08/2014, 09:20

... 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=...

Ngày tải lên: 11/08/2014, 08:22

... ( 1o n , 1o m , 3r n , 3r m− ), ( 1o n− , 1o m , 3r n , 3r m ) and ( 1o n− , 1o m , 3r n , 3r m− ). 202 Industrial Robotics: Theory, Modelling and Control ≤ ≤ Read and Write Data Perform Inverse Position Analysis ... 2 cos sin (112 ) = ρ θ− ρ θ 39 28 2 rcos sin (113 ) Here, ρ =+ θ− ρ θ 824 36 3 adsin cos (114 ) ρ =θ+ ρ θ 94 36 3 dcos sin (115 ) According to T4 in Appendix...

Ngày tải lên: 11/08/2014, 08:22

... 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 Control 3.2 D&H Parameters ... () » » » » ¼ º « « « « ¬ ª −− − = = −−−− −−−− − −− − −− 1000 coscossincossinsin sinsincoscoscossin 0sincos 111 1 111 1 1 ˆˆ 1 ˆ 1 ˆ 1 11 jjjjjjj jjjjjjj jjj jjjj j j d d a Rot...

Ngày tải lên: 11/08/2014, 08:22

... 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...

Ngày tải lên: 11/08/2014, 08:22

... 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...

Ngày tải lên: 11/08/2014, 09:20

... single link can be obtained as fol- lows. 128 Industrial Robotics: Theory, Modelling and Control 21 2 2 2112 111x1 sslccslcslps θθ+θθθ−θθ−=θ− 21 2 2 2112 111y1 sclcsclcslpc θθ+θθθ+θθ=θ )sc(slpcps 1 2 1 2 22y1x1 θ+θθ=θ+θ− The ... , 41243223 MsMcM −= and 42244224 MsMcM += . )M,M,M],M,M,M,M([MQM 17161514131 2112 11 ><><== (98) where , )MsMc(sMcM 4224421 2111 1 −−= , 231...

Ngày tải lên: 11/08/2014, 08:22

... 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 10 811 11 9 11 11 11 12 12 10 8 12 12 13 11 9 7 13 13 13 98767891 011 10987891 011 11 10 9 8 9 10 11 12 12 12 12 12 11 10 9 10 11 12 13 12 10...

Ngày tải lên: 11/08/2014, 08:22

... 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 (...

Ngày tải lên: 11/08/2014, 08:22

... 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...

Ngày tải lên: 11/08/2014, 08:22