Mechanical Systems Design C22 Control of Robots docx

... of a control system, it is obvious that the synthesis of adequate control systems is of the highest importance for further application of robotics in industrial practice. Control systems of robots ... LLC 22 Control of Robots 22.1 Introduction 22.2 Hierarchical Control of Robots Mission Layer • Task Layer • Action Layer 22.3 Control of a Single Joi...

Ngày tải lên: 11/08/2014, 15:21

... Speight, Towards intelligent process control of injection moulding of polymers, Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture , 209, 357–367, ... overview of issues involved in control of polymer processing in this chapter, we focus on modeling and control strategies applied to injection molding. 9.2 Process Des...

Ngày tải lên: 11/08/2014, 15:20

... avoid possible chipping of the drill tips, stall of the spindle motor, thermal softening of the tool, or torsional failure of the drill. Among the first to design a controller for elimination of chatter were ... LLC 5.3 Process Control The advent of open-architecture control provides a natural framework for implementation of control systems in machine tools. 45...

Ngày tải lên: 11/08/2014, 15:20

... 24 1.3.2.8. Variation of the elastic strain energy 25 1.3.2.9. Equation of elastic vibrations 27 1.3.2.10. Conservation of mechanical energy 28 1.3.2.11. Uniqueness of solution of motion equations ... Gradient of a scalar and the Nabla operator 452 A.3.2.2. Gradient of a vector 452 A.3.2.3. Divergence of a vector 453 A.3.2.4. Divergence of a tensor of the second rank 453...

Ngày tải lên: 22/03/2014, 13:20

... problem. MECHANICAL DESIGN AND CONTROL OF THE PENDUBOT BY DANIEL JEROME BLOCK B.S., University of Illinois, 1991 THESIS Submitted in partial fulfillment of the requirements for the degree of Master of ... Drawings of the Pendubot. direct drive control, we designed the Pendubot to hang off the side of a table coupling link one directly to the shaft of the motor. The moun...

Ngày tải lên: 31/03/2014, 23:20

... ratio of the axial rigidity of the bars to the axial rigidity of the strings. We then see that K has little influence on EI as long as none of the strings are slack. However, the bending rigidity of ... characterize the mass of the structure in terms of strength and stiffness. This allows one to design for minimal mass while bounding stiffness. In designing this structure there...

Ngày tải lên: 21/06/2014, 21:20

... Computer-Aided Design Robot Manipulator Design Problem • Robot Design Procedure • Design Condition Input • Fundamental Mechanism Design • Inner Mechanism Design • Detailed Structure Design • Design ... and programming of motion means only the definition of the sequence of working points. Although some special designs of pneumatic drives offer the possibility of ac...

Ngày tải lên: 21/06/2014, 21:20

... manifested by the lack of analytical tools for control synthesis, i.e., the selection of parameters of fuzzy controllers (or initial values of the parameters in cases of self-organizing controllers). ... control of flexible link robots) , 3 GA performs optimization of two fuzzy systems: the fuzzy extractor of features at the higher control layer and the fuzzy controlle...

Ngày tải lên: 21/06/2014, 21:20

... computers. The operator controls the motion of the machine from an operator panel of the CNC system. Readers are referred to machine design handbooks and texts for the basics of designing stationary, linearly ... the builder must design the machine tool structure and control of drives to deliver maximum accuracy during machining. A machine tool system has three main groups of...

Ngày tải lên: 02/07/2014, 12:20

... critical to control the temperature of the coolant. Variations of coolant temperature of more than 30°F are typical in many plants depending on the time of the year and even the time of the day, ... perpendicular to the designed direction of motion. While slides are designed to have a single translational degree of freedom, spindles and rotary tables are designed to have a sin...

Ngày tải lên: 02/07/2014, 12:20