Industrial Robotics Theory Modelling and Control Part 12 pot
Industrial Robotics Theory Modelling and Control Part 12 pot
... 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 ... as joint displacements are sent through
662 Industrial Robotics: Theory, Modelling and Control
local CPU and can work on behalf of its remote counterpart showing r...
Industrial Robotics Theory Modelling and Control Part 3 pot
... ,
4124 3223
MsMcM −= and
42244224
MsMcM += .
)M,M,M],M,M,M,M([MQM
171615141 3121 1211
><><== (98)
where
,
)MsMc(sMcM
42244 2121 111
−−= ,
2 3122 112
MsMcM −= ,
2 2123 113
MsMcM += ,
2 4121 114
McMsM ... 159-172.
156 Industrial Robotics: Theory, Modelling and Control
On the other hand, the wrist point position vector can be expressed as
=+++++
GG G G G G G
01 12...
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
10811
11
9
11
11
11 12
12
10
8
12
12
13
11
9
7
13
13
13
98767891011
10987891011
11 10 9 8 9 10 11 12
12
12
12
12 11 10 9 10 11 12 13
12
10
8
6...
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
... 1.1.
178 Industrial Robotics: Theory, Modelling and Control
However, in this particular manipulator, the four-link mechanism happens to
be a parallelogram mechanism so that
ψ
=
ψ
24
and
π
φ
=θ ... (
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 an...
Industrial Robotics Theory Modelling and Control Part 5 ppt
...
KS
T
0
sph
1
()
()
»
»
»
»
¼
º
«
«
«
«
¬
ª
−−
+−
+
1000
0
2322323
23 2123 1123 1
23 2123 1123 1
gcfscs
gsfcsssccs
gsfccscscc
2
()
()
»
»
»
»
¼
º
«
«
«
«
¬
ª
+
−+−−+
+++−−
1000
32232232
313 2121 313 2121 31321
313 2121 313 2121 31321
gssfsssccs
gccscsfcsccscsssscccs
gcssccfcccssccscssccc
3
()
()
»
»
»
»
¼
º
«
«
«
«
¬
ª
−+−−−+
+++−−
1000
3232232
313211313 2121 31321
313211313 2121 31321
gssssc...
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 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...
Industrial Robotics Theory Modelling and Control Part 11 ppt
... 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), ... ⋅−=⋅+⋅
1111
i.e.
21
1111
/)(
fPzfPxf
bPxaPzcePy
y
++=
⋅−⋅−=
624 Industrial Robotics: Theory, Modelling and Control
Fx Fy Fz dx dy dz
-180 0 0 -0.4561 0.1767 -0 .121 1...
Từ khóa: