Industrial Robotics Theory Modelling and Control Part 15 ppsx

... Siciliano, (2000). Modelling and Control of Robot Manipulators, pp. 271-280, Springer, London. 842 Industrial Robotics: Theory, Modelling and Control controller generate the position and velocity ... profile. 840 Industrial Robotics: Theory, Modelling and Control 7. References Ciro, N., R. Koeppe, and G. Hirzinger, (2000). A Systematic Design Procedure of...

Ngày tải lên: 11/08/2014, 09:20

... compensation is applied, espe- cially for the explicit control) . 900 Industrial Robotics: Theory, Modelling and Control Figure 3. Structure of the position control system loop for the manipulator shoulder ... locus methods of in- 894 Industrial Robotics: Theory, Modelling and Control dynamic calibration of a SCARA robot. Preprints of 15 th IFAC World Con- gress o...

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

... Transactions of the ASME, Journal of Engineering for Industry, 159 -172. 156 Industrial Robotics: Theory, Modelling and Control On the other hand, the wrist point position vector can be expressed as ... ABB IRB2000 industrial robot, which has a closed chain, is obtained to show the applicability of the method to such ma- nipulators. 110 Industrial Robotics: Theory, Mode...

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

... 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 = » » » ¼ º « « « ¬ ª − +−+ −−− == 333231 232221 131211 56565 546465464654 546465464654 3 6 33 6 rrr rrr rrr csscs ssccscsscccs sccssccssccc sph sph sph RRRR...

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

... 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 10 8 6 8 10 12 14 16 10 16 16 16 14 12 8 7 9 89 67 7 9 10 11 12 13 12 11 10 91011 111213 12131 415 89 1011 1112 13 12131 415 131 4151 6 16 1 415 131 4151 6 17 17 17 17 ... 375 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Figure 22. Results using three PUMA robots 362 Industrial Robotics: The...

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. ... control. 542 Industrial Robotics: Theory, Modelling and Control Figure 3. Accuracy validation of identified model of the KUKA KR15: Torques for ISO- 9283 trajectory...

Ngày tải lên: 11/08/2014, 08:22