Mobile Robots Current Trends Part 3 docx

... Deviation 4.7205 636 4 .34 86990 Standard Error Mean 0 .35 08767 0 .32 3 236 2 Minimum 1.0000 1.0000 Maximum 20.6155 19 .31 32 Range 19.6155 18 .31 32 Interquartile Range 7. 031 2 6.2556 Skewness -0.2 63 -0.118 ... identification toolbox of MATLAB. Mobile Robots – Current Trends 78 server to send the controller parameters to the robot in order to test the speed control pe...

Ngày tải lên: 11/08/2014, 16:22

... s y s H is the (6)(6) vv nn   system generalized inertia matrix (Yoshida, 2000): T 33 0 33 3 033 33 3 TT 33 () ( ) ( ) () ( ) ( ) () ( ) () v v vvvv aagTgn sys a g n Tg n n n n MM M      ... (s) t s :t p Flat (Yes) 24 .33 30 .45 0.799:1 Slope (Yes) 34 .50 42.91 0.804:1 Random (Yes) 43. 50 53. 76 0.809:1 Flat (No) 41.25 41.07 1:1 Slope (No) 38 .50 38 . 43...

Ngày tải lên: 11/08/2014, 16:22

... obtained from orders@intechweb.org Mobile Robots – Current Trends, Edited by Zoran Gacovski p. cm. ISBN 978-9 53- 307-716-1 Mobile Robots – Current Trends 14 The time duration and results ... omnidirectional mobile robots, ball-wheel mobile robots, and planetary wheeled mobile robots. I hope that this book will be a small contribution towards the gene...

Ngày tải lên: 11/08/2014, 16:22

... 0 .3 E (22 ,34 ) 0.275 F (20 ,35 ) 0.25 G (19 ,36 ) 0.225 H (17 ,37 ) 0.2 I (15 ,38 ) 0.175 J ( 13, 39) 0.15 K (11 ,39 ) 0.125 L (30 ,27) 0 .35 M (32 ,26) 0 .32 5 N (33 ,24) 0 .3 O (34 ,22) 0.275 P (35 ,20) ... J ( 13, 39) 0.225 K (11 ,39 ) 0.19 L (30 ,27) 0.525 M (32 ,26) 0.49 N (33 ,24) 0.45 O (34 ,22) 0.415 P (35 ,20) 0 .37 5 Q (36 ,19) 0 .34 R (37 ,17) 0 .3 S (38...

Ngày tải lên: 11/08/2014, 16:22

... / 3- 2 10/ - 2-2 3- 1 / 3- 2 9/- 2 -3 3-1 / 3- 2 9/- 1 -3 2-1 3- 1 / 3- 2 7/- 2-2 3- 1 / 3- 2 6/- 2 -3 3-1 / 3- 2 -/- 1-4 2-1 3- 1 / 3- 2 -/6 2-2 3- 1 / 3- 2 -/5 2 -3 3-1 / 3- 2 -/- Table 3. Combinations of each ... 6 Mobile Robot / Book 3 Steering Suspension Suspension Number of (wheel mode) (leg mode) drive shafts 1-1 2-1 3- 1 / 3- 2 9/- 2-2 3- 1 / 3- 2 8/- 2 -3...

Ngày tải lên: 11/08/2014, 16:22

... the platform. 148 Mobile Robots – Current Trends Mobile Robots – Current Trends 162 Step angle 7.5 [deg] Hold torque 2.5 [Ncm] Rotor inertia 0.04 [kgcm 2 ] Resistance 64 [Ω] Current 0.18 ... rear steering angles. (d) Static stability during each leg motion. 144 Mobile Robots – Current Trends 20 Mobile Robot / Book 3 7.2 Step-down gait The proposed step-do...

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... trial 3rd trial 4-10 trial’s average 10 30 2 2 2 2 10 50 2 2 2 2 15 30 2 2 2 2 15 50 2 2 2 2 20 30 2 2 2 2 20 50 2 2 2 2 25 30 2 2 2 2 25 50 2 2 2 2 30 30 2 2 2 2 30 50 3 3 3 3 Table ... (10. 73) 1.65 (9.09) 15 1.81(40.56) 1.90 ( 13. 52) 1. 93 (14.54) 2.12 (15. 53) 20 1.85(51.46) 2 .36 (19.65) 2.12 (19.84) 1.59 (15.49) 25 1. 73( 63. 55) 2.44 (24 .33 ) 1.87 (22.77) 1.29...

Ngày tải lên: 11/08/2014, 16:22

... 978-9 53- 307-446-7, Rijeka, Croatia. Mobile Robots – Current Trends 214 Wikipedia (June 2011). Mobile robot, Wikipedia; the free encyclopedia, Available URL: http://en.wikipedia.org/wiki /Mobile_ robot ... software. Fig. 17. The Autonomous Mobile Robot (AMRO), Measurement and Mobile robot laboratory Mobile Robots – Current Trends 218 a) b) Fig. 3. T...

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... −cθ 4 l L 2 sθ 3 l 2 l cθ 4 l (cθ 3 l 2 l L 2 + cθ 3 l L 3 ) −sθ 4 l (sθ 3 l 2 l L 2 + sθ 3 l L 3 ) −sθ 4 l L 2 sθ 3 l 2 l 0 cθ 3 l 2 l L 2 + cθ 3 l L 3 cθ 3 l 2 l L 2 ⎤ ⎦ (39 ) On the right-hand side of 37 , the product ω p ×( O R P ·  PE l ) ... cθ 4 l (cθ 2 l 3 l L 2 + cθ 3 l L 3 ) ( sθ 4 l cθ 2 l 3 l cθ 1 l −cθ 4 l sθ 1 l )L 1 + sθ 4 l (cθ 2 l 3 l L 2...

Ngày tải lên: 11/08/2014, 16:22

... follows from Equations 13, 14 and 15: Δh du = h a  − h a  = l l sin 30 ◦ cos α + l l cos 30 ◦ sin α −l l sin 30 ◦ = = h o 2 − l l 2 ( 1 −cos α ) (16) 268 Mobile Robots – Current Trends A Kinematical ... Robot 21 10 20 30 40 50 60 70 80 90 100 −1.5 −1 −0.5 0 0.5 1 1.5 2 2.5 Samples rad θ 1 1 θ 2 1 θ 3 1 θ 4 1 θ 1 3 θ 2 3 θ 3 3 θ 4 3 Fig. 14. Joint space in the “...

Ngày tải lên: 11/08/2014, 16:22