Robot Manipulators, New Achievements part 4 ppsx

... 176 - 247 0, -63, 1325 247 0 - 247 0, -63.01, 1328.56 -1670mm, 0mm, 0° 182, 228 - 247 0, 52, 1295 247 0 - 247 0, 46 .40 , 12 94. 85 -1670mm, 0mm, 0° 228, 178 - 247 0, -58, 1200 247 0 - 247 0, -58.93, 1197. 94 -1670mm, ...  E , θ E ,  E ) Target 1 (5, 49 , 63, -13, -22, -78) - 246 6.52mm, -60 .45 mm, 1335.20mm, -90°, -90°, 180° Target 2 (16, 51, 54, -48 , -22, -44 ) - 246 9.86mm,...

Ngày tải lên: 11/08/2014, 23:21

... when ConcurrentEngineeringof Robot Manipulators 239 Initial 43 .4 100.0 80.0 59.0 40 .0 30.0 347 3.0 100.0 120.0 6.2 549 Final 43 .8 100.8 80.6 59.5 40 .3 30.2 348 3.6 100.8 120.9 5.6307 Wish ... Ceccarelli (ed.) Robot Manipulators: Programming, Design, and Control, I-Tech Education and Publishing, Vienna, Austria, pp. 347 -372. Robot Manipulators, New Achievements2 40 Murat...

Ngày tải lên: 11/08/2014, 23:21

... No. 4, pp. 802–808, 0022- 043 4. Robot Manipulators, New Achievements4 50       l t dxtxtxtxtltltlM 0 ),()(),(),()(),(   . (44 ) Substituting equation (17) into (44 ), ... flexible Robot, Advanced Robotics, Vol. 22, No. 4, pp. 43 3 -44 9, 0169-18 64. Matsuno, M. & Hayashi, A. (2000). PDS cooperative control of two one-link flexible arms, Proc. of I...

Ngày tải lên: 11/08/2014, 23:21

... 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 0.0203 0.02 04 0.0205 Robot with a integrated ... velocities of two-link manipulator. 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 -4 -2 0 2 4 time(s) position(rad) 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 -4 -2 0 2 4 6 time(s) position(r...

Ngày tải lên: 11/08/2014, 23:21

... deformation of robot. The deviation in the entire work space is less than 0.04mm. Robot Manipulators, New Achievements5 4 Table 1. DH model of IRB 640 0 5.3 Real-time robot deformation ... work in Eq. (20). QQJX     )( (19) Robot Manipulators, New Achievements4 2 The dynamic model identified is given as 43 1300098670575 43 3000 045 80063 )( )( 23 2    sss ss sf s...

Ngày tải lên: 11/08/2014, 23:21

... Transactions on Robotics and Automation, Vol. 13, Nr. 3, pp. 387– 397 Robot Manipulators, New Achievements1 00 4. 3 Summary and review The ideas presented in section 4. 1 and in section 4. 2 define ... q released q fixed E total 30 40 50 60 70 80 0 10 20 30 40 50 60 q released [°] E total [mm] in workspace not in workspace Robot Manipulators, New Achievements9 2 AdvancedNonlinear...

Ngày tải lên: 11/08/2014, 23:21

... pose Manipulator pose Calculate new pose Reference values Update pose Pose updated Fig. 4. Message sequence for adaptation –key function Robot Manipulators, New Achievements2 00 Fig. 7. A ... (deg) U (deg) Initial Guess 5.5 10 -4 6.7 10 -6 3.2 10 -4 2 .4 10 -5 2 .4 10 -5 2.3 10 -9 Optimal 0.002 1.6 10 -6 0.001 6.0 10 -4 6.5 10 -4 2.3 10 -8 Table 2. Design ch...

Ngày tải lên: 11/08/2014, 23:21

... Teach pendant Fig. 11. The second robot controller (remote control system & teach pendant) Robot Manipulators, New Achievements2 76 14 24 34 14 24 34 t t t b t t t          ... 145 - 149 Zhuang, H. & Roth, Z.S. (1992). Robot calibration using the CPC error model. Journal of Robotics and Computer Integrated Manufacturing, 9(3), 227-237 Robot Manipulators,...

Ngày tải lên: 11/08/2014, 23:21

...                                   182 182 2 12217 12217 12 109389.601.0107322.12. 146 .39976.1 109389.601.0107322.12. 146 .39976.1 0100002.202.109953.3 109875.9103283 .41 049 89.21 047 42.7969. 242 48 .43 109875.9103283 .41 049 89.21 047 42.7969. 242 48 .43 109875.90109979 .40 938 .49 0 q H G . ...              ...

Ngày tải lên: 11/08/2014, 23:21

... manipulator. Robot Manipulators, New Achievements3 82 10 8 6 4 2 0 2 4 6 8 6 4 2 0 2 4 8 6 8 Target Actual path of point of interest X [m] Y [m] Initial state Final state Object Robot 3 Robot 2 Robot ... 3000. -8 -4 0 4 -4 0 4 Initial state Final state Target Actual path of point of interest X [m] Y [m] Object Robot (a) Motion (Case 1) 0 3 0 1 2 0 1 2 -4...

Ngày tải lên: 11/08/2014, 23:21