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...

Ngày tải lên: 11/08/2014, 09:20

... , 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...

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 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...

Ngày tải lên: 11/08/2014, 08:22

... 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

... 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...

Ngày tải lên: 11/08/2014, 08:22

... 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...

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

... 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

... 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...

Ngày tải lên: 11/08/2014, 09:20