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...

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

... 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 ... Freedom 174 Industrial Robotics: Theory, Modelling and Control =− θ + θ + ρ θ 3 2 2 4 23 6 23 rasindcos sin (108) Here, ρ =θ 65 4 d sin (109) According to T9 in Appe...

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

... 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), ... position of active drive angles: θ 1 , θ 2 and θ 3 . Change the format of Equations (1), (2) and (3) into: 614 Industrial Robotics: Theory, Modelling and Control...

Ngày tải lên: 11/08/2014, 09:20

... 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 =+++++ GG ... Fi- nally, the forward and inverse kinematics transformations are derived based on the quaternion modeling convention. 146 Industrial Robotics: Theory, Modell...

Ngày tải lên: 11/08/2014, 08:22

... 1415 13141516 17 17 17 17 18 start (initial position) end (final position) 16 9 Figure 8. Unsuccessful path planning by depth-first search 374 Industrial Robotics: Theory, Modelling and Control 5.3 ... 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, Mod...

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