Industrial Robotics Theory Modelling and Control Part 13 docx
Industrial Robotics Theory Modelling and Control Part 13 docx
... with the control device attached to the robot set.
Figure 11. The block diagram of hybrid visual servoing control for robotic arc welding
728 Industrial Robotics: Theory, Modelling and Control ... end-
effector and [x
e
, y
e
, z
e
] is indicated as f(Ʀ
i
’). The model for the camera and im-
age capture card is described as M
in
e
M
c
-1
.
738 Industrial Robotics: Theo...
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: ...
short-term and long-term memory systems during the training portion of the
simulation.
16 Industrial Robotics: Theory, Modelling and Control
(a)
Behaviors
Raw Data
Mot...
Industrial Robotics Theory Modelling and Control Part 3 pot
... 1)
1
u
−
G
(k)
1
u
G
k
a
k
α
θ
k
k
d
k
A
k1
a
−
130 Industrial Robotics: Theory, Modelling and Control
can be solved as functions of r
11
,r
12,
… r
33,
p
x
, p
y
, p
z
and the fixed link parame-
ters. Once ... Fi-
nally, the forward and inverse kinematics transformations are derived based
on the quaternion modeling convention.
146 Industrial Robotics: Theory, Modelli...
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 ...
178 Industrial Robotics: Theory, Modelling and Control
However, in this particular manipulator, the four-link mechanism happens to
be a parallelogram...
Industrial Robotics Theory Modelling and Control Part 5 ppt
...
KS
T
0
sph
1
()
()
»
»
»
»
¼
º
«
«
«
«
¬
ª
−−
+−
+
1000
0
2322323
23212311231
23212311231
gcfscs
gsfcsssccs
gsfccscscc
2
()
()
»
»
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»
¼
º
«
«
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«
¬
ª
+
−+−−+
+++−−
1000
32232232
3132 1 2131 321 2131 321
3132 1 2131 321 2131 321
gssfsssccs
gccscsfcsccscsssscccs
gcssccfcccssccscssccc
3
()
()
»
»
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¼
º
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¬
ª
−+−−−+
+++−−
1000
3232232
3132 1131 321 2131 321
3132 1131 321 2131 321
gs...
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 7 pot
... 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
12
14
14
14
14
13
13
13
13
14
14
14
14 13
15
15
15
15
15
15
15
13
11
9
5
7
9
11 ... is an
ideal candidate for path planning of industrial robots.
Acknowledgement
This research is supported by NSC90-2212-E-033- 009.
370 Industrial Robotics: Theory,...
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), ...
0),,,,,,(
0),,,,,,(
66
22
11
==
==
==
gzyxff
gzyxff
gzyxff
γβα
γβα
γ
β
α
(30)
634 Industrial Robotics: Theory, Modelling and Control
Drive Angles TCP Pose Jacobian...