Robot Manipulators, New Achievements part 1 pot

... 2008): 2 1 212 212 2 2 211 )()cos(2 lmmqllmlmm  , )cos( 2 212 2 2 2 211 2 qllmlmmm  , 2 2 222 lmm  . 22 212 11 )sin( qqllmC   , 22 212 12 )sin( qqllmC   , 12 212 21 )sin( qqllmC   , 0 22 C ... 2008): 2 1 212 212 2 2 211 )()cos(2 lmmqllmlmm  , )cos( 2 212 2 2 2 211 2 qllmlmmm  , 2 2 222 lmm  . 22 212 11 )sin( qqllmC   , 22 212 12 )sin( qqllmC ...

Ngày tải lên: 11/08/2014, 23:21

...                                                          0 2 1 2 3 2 3 2 0 2 1 2 3 2 3 2 0 1 00 2 3 2 0 2 1 2 3 2 3 2 0 2 1 2 3 000 313 2 313 2 313 2 313 313 2 313 313 2 313 212 2 212 2 212 2 212 212 2 212 212 2 212 11 1 211 12 11 1 11 12 11 1 3 33 3 3 2 22 2 2 11 1               ...

Ngày tải lên: 11/08/2014, 23:21

... where )abab( 12 1 313 12   , 12 1 313 12 cbcb    and 13 1 212 13 caca    . The equation 30 can be converted into the eight-degree polynomial using 2 t1 t2 sin   and 2 2 t1 t1 cos    . ... http://dx.doi.org /10 .11 09 /ROBOT. 2004 .13 0 715 9 Zinn, M., Khatib, O., Roth, B. & Salisbury, J. (2004a). Playing it safe [human-friendly robots], IEEE Robotics & Autom...

Ngày tải lên: 11/08/2014, 23:21

... a (i 1 i n ) 1 x  ∑ r 1 i 1 =1 . . . ∑ r n i n =1 w (i 1 i n ) (x) + ∑ r 1 i 1 =1 . . . ∑ r n i n =1 w (i 1 i n ) (x)  a (i 1 i n ) 2 x´+ a (i 1 i n ) n x (n 1) + b (i 1 i n ) u  ∑ r 1 i 1 =1 . ... x (n 1) is M i n n then x (n) = a (i 1 i n ) 1 x + . . . + a (i 1 i n ) n x (n 1) + b (i 1 i n ) [k (i 1 i n ) r r − k (i 1 i n ) 1 x + k (i 1...

Ngày tải lên: 11/08/2014, 23:21

... two-link robot model are given by 2 2 2222 22 21 2 22 211 2 212 21 2 2 2 12 2 11 11 ;)cos( ;)cos2( IlmD IqlllmDD IIqllllmlmD c cc ccc    0;)sin( ;sin)( ;)sin( 2 212 212 21 2 212 211 2 22 212 11    CqqllmC qllmqqC qqllmC c c c    ... two-link robot model are given by 2 2 2222 22 21 2 22 211 2 212 21 2 2 2 12 2 11 11 ;)cos( ;)cos2( IlmD Iqlll...

Ngày tải lên: 11/08/2014, 23:21

... dynamic block matrix in illustrative way is presented in Fig. 10 . 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 . k k k k T T T k k k k k k T T k k k k T k k sym      ...                                 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 . k...

Ngày tải lên: 11/08/2014, 23:21

... IF U 1 is B 11 AND…AND U n is B 1n THEN V 1 is D 11 AND…AND V s is D 1s ALSO … (1) ALSO IF U 1 is B r1 AND…AND U n is B rn THEN V 1 is D r1 AND…AND V s is D rs Robot Manipulators, New Achievements2 12 processing ... 0 .19 /0.07 Optimal solution 97 /11 3/79 0 .15 0/0. 011 0.05/0.05 20.0 /11 3.2 0 .15 /0 .10 Table 4. Design parameters before and after optima...

Ngày tải lên: 11/08/2014, 23:21

... mN k T  k =1 k=2 k=3 k=4 k=5 k=6 Initial 1. 4787 20.7223 1. 30 91 9.3557 10 .2754 9.35 61 9.35 61 10. 217 2 10 . 217 2 Final 0. 018 9 19 .49 21 1.3025 8.30 71 9 .13 91 8.30 71 8.30 71 9 .13 94 8.30 71 Wish Satisfactions ... )(  i [ -18 0 ,18 0] [ -18 0 ,18 0] [ -18 0 ,18 0] [ -18 0 ,18 0] [ -18 0 ,18 0] )(   i [ -18 0 ,18 0] [ -11 0,0] [-90.6,35] [ -11 0 ,11 0...

Ngày tải lên: 11/08/2014, 23:21

... Z t A    32 33 _ 33 _ 33 _ 33 11 _ 11 _ 11 _ 11 12 _ 12 _ 12 _ 12 13 _ 13 _ 13 _ 13 21 _ 21 _ 21 _ 21 22 _ 22 _ 22 _ 22 23 _ 23 _ 23 _ 23 31 0 0 1 1 0 0 0 1 0 P i P i P i P n P n P n P n P ... T s [s] 1 PD  PI 400.0 9.8 10  11 .0 10  2.0 10  FO 11 5.0 77.0 10  25.0 10  2.0 10  2 PD  PI 400.0 9.8 10  15 .0 10 ...

Ngày tải lên: 11/08/2014, 23:21

... [s] [m/s] positionorientation Basic Tracking 1 0 1 1 0 1 1 0 1 1 0 1 1 0 1 1 0 1 1 0 1 1 0 1 0 5 10 15 1 0 1 τ 11 [Nm] x10 2 x10 2 x10 2 x10 2 x10 2 Time [s] x10 2 x10 2 input τ 12 [Nm] input τ 13 [Nm] input τ 21 [Nm] input τ 22 [Nm] input τ 23 [Nm] input τ 31 [Nm] input τ 322 [Nm] input τ 33 [Nm] input x10 2 x10 2 Fig. ... [s] [m/s] positionorientation Basic...

Ngày tải lên: 11/08/2014, 23:21