Robot Manipulators, New Achievements part 3 docx

... Study on Stewart Platforms. IEEE Transactions on Robotics and Automation, Vol. 13, Nr. 3, pp. 38 7– 39 7 Robot Manipulators, New Achievements1 00 4 .3 Summary and review The ideas presented in section ...            11 33 3222 1 1 cos2 cossincossin sin    r rr (4)            11 33 3222 1 1 sin2 cossincossin cos    r rr (5) 1 2 2 2 3 3 3 1...

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... in Eq. (20). QQJX     )( (19) Robot Manipulators, New Achievements4 2 The dynamic model identified is given as 431 300098670575 433 000045800 63 )( )( 23 2    sss ss sf sf c (1) Where ... i n ) n x (n−1) + b (i 1 i n ) u ( 13) RoboticMachiningfromProgrammingtoProcessControl 43 The dynamic model identified is given as 431 300098670575 433 000045800 63 )( )(...

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... 2 3 4 5 6 7 8 9 10 L i ( m m ) 7.8 61.1 16.2 5 4 . 4 1 6 . 8 . 33 .7 35 .0 30 .0 17.1 23. 2 L p i (m m) 37 .9 33 .1 23. 2 - - - - - - -  i ( d e g ) 78.7 62.8 25.5 7 6 . 4 - - - - - ... 2 θ 1 α p1 θ p1 L 1 R p2 L p3 L p2 θ p3 θ 2 R 3 R Y X B A 3 θ 2 L 3 L s1 θ 1 k in τ C 2 α 7 θ F G H 4 α 8 θ 3 hp 1 hp 2 hp 7 L D 1 L 8 L 10 L 4 L 5 L 9 L 6 L E s2 θ I 3 α...

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... error Time (s) Position error (m) x position error y position error 3. 2 3. 22 3. 24 3. 26 3. 28 3. 3 3. 32 3. 34 3. 36 3. 38 3. 4 -4 -3 -2 -1 0 1 2 3 4 x 10 -5 Position error Time (s) Position error (m) x position ... and Hiroyuki Kawai Robot Manipulators, New Achievements1 6 Robot Manipulators, New Achievements1 4 0.2 0.25 0 .3 0 .35 0.4 0.45 0.0199 0.02 0.0201 0.0202 0...

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... -22, -44) -2469.86mm, 44.17mm, 12 93. 73mm, -90°, -90°, 180° Target 3 (5, 53, 37 , 89, 5, 1) -2468.08mm, -60.95mm, 1199 .39 mm, -90°, -90°, 0° Target 4 (16, 53, 35 , 83, 16, 7) -2469.41mm, 45.15mm, ... Storage Technologies 2007, Robot Manipulators, New Achievements1 68 Robot Manipulators, New Achievements1 58 4.5 Remote Manipulator Robot Agent The Remote Manipulator Robot Agent...

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... mN k T  k=1 k=2 k =3 k=4 k=5 k=6 Initial 1.4787 20.72 23 1 .30 91 9 .35 57 10.2754 9 .35 61 9 .35 61 10.2172 10.2172 Final 0.0189 19.4921 1 .30 25 8 .30 71 9. 139 1 8 .30 71 8 .30 71 9. 139 4 8 .30 71 Wish Satisfactions ... ConcurrentEngineeringof Robot Manipulators 239 Initial 43. 4 100.0 80.0 59.0 40.0 30 .0 34 73. 0 100.0 120.0 6.2549 Final 43. 8 100.8 80.6 59.5 40 .3 30....

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... t Y t Z t t X t Y t 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 ... (15) where 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 _ 31 _ 31 _ 31 32 _ 32 _ 32 _ 1 0 0 0 1 0 P i...

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...                                                          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 31 3 231 3 231 32 31 3 31 32 31 3 31 32 31 3 212221222122 212 2122 212 2122 212 11121112 111 1112 111 3 33 3 3 2 22 2 2 111                      ...

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... )abab( cbcb p 12 131 312 12 131 312 x    and )baba( caca p 131 212 13 131 212 13 y    (28) The orientation angle (  ) can be found using i =3 in equation 25. Robot Manipulators, New Achievements3 62 In ... [s] Basic Tracking robot 1 robot 2 robot 3 robot 1 robot 1 robot 2 robot 2 robot 3 robot 3 Basic Tracking Tracking Basic (b) Time history Fig. 16...

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...                                        33 3 33 3 33 3 22 2 22 2 22 2 11 1 11 1 11 1 ldldld ldldld ldldld J (36 ) Numerical example for the inverse kinematics: The dimensions of the planar 3- dof RPR parallel ... λ 3 are computed as 231 .34 02, -24.4440 and 66 .34 53, where 51 .34 02 1  and 24.4440, 2  respectively. Moreover, the...

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