Industrial Robotics Theory Modelling and Control Part 11 ppt
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...
Industrial Robotics Theory Modelling and Control Part 1 ppt
... 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=...
Industrial Robotics Theory Modelling and Control Part 4 ppt
... (
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...
Industrial Robotics Theory Modelling and Control Part 5 ppt
... 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...
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...
Industrial Robotics Theory Modelling and Control Part 17 ppt
... 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...
Industrial Robotics Theory Modelling and Control Part 3 pot
... 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...
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
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...
Industrial Robotics Theory Modelling and Control Part 8 pdf
... 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 (...
Industrial Robotics Theory Modelling and Control Part 10 pdf
... 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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