Robot Manipulators, New Achievements part 5 docx

... elaborated in an Intel Robot Manipulators, New Achievements2 08 0 50 0 1000 150 0 2000 250 0 -0.3 -0.2 -0.1 0 0.1 0.2 maximum displacement in X direction iteration 0 50 0 1000 150 0 2000 250 0 -0.12 -0.1 -0.08 -0.06 -0.04 -0.02 0 maximum ... in phi direction iteration c) d) 0 50 0 1000 150 0 2000 250 0 -50 0 50 100 150 200 250 maximum displacement in psi direction iteration 0...

Ngày tải lên: 11/08/2014, 23:21

... angular position of the second axis: θ 1 2a = {−∞, 0 ,55 } θ 2 2a = {0, 55 , 1 15} θ 3 2a = {55 , 1 15, ∞} (2) FuzzyOptimalControlfor Robot Manipulators 75 Nevertheless, figure 7 shows the response with ... 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 6400 5. 3 Real-time robot...

Ngày tải lên: 11/08/2014, 23:21

... 2 Neural Ang Vel 2 Fig. 7. Predicted angular velocities 0 0. 05 0.1 0. 15 0.2 0. 25 0.3 0. 35 0.4 0. 45 0 .5 0 5 10 15 20 25 30 35 40 Desired Point Angular Acceleration. (rad/sec ) Ang Acce 1 Neural ... Mechanisms Using a Fourier Series. Journal of Mechanical Design, Vol. 126, Nr. 5, pp. 856 –8 65 Robot Manipulators, New Achievements8 6 computer outputs such as serial, pa...

Ngày tải lên: 11/08/2014, 23:21

... R s R c 1 88 168 153 0 153 11783 229.27 51 .39 4.46 2/20 = 0.1 2 251 104 153 0 153 7174 455 .48 15. 75 28.92 8/20 = 0.4 Table 1. Computed features for the artificial segments of Fig. 5. 3 .5 Shape Features ... an GeoscienceandRemoteSensing, New Achievements1 66 Drainage class Count % D3 53 5. 1 D4 71 6.8 D5 303 29.0 D6 4 95 47.4 D7 123 11.8 Total 10 45 100.0...

Ngày tải lên: 21/06/2014, 14:20

... 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 0.0204 0.02 05 Robot with a integrated ... (rad), with 0  t  5. )3/2(sin)3/4(cos21)( 2 tttq d   (rad), with 0  t  5. Simulation parameters:       55 0 ,55 0, 15, 15, 5000 ,50 00  LKK vp , ] [5. 1],[...

Ngày tải lên: 11/08/2014, 23:21

... O M O B Z M =25c m O M Z B =12c m 52 0mm 120mm 30m m X M =3c m O M O B Z M =25c m O M Z B =12c m 52 0mm 120mm 30m m Z M =25c m O M Z B =12c m 52 0mm 120mm Z M =25c m O M Z B =12c m 52 0mm 120mm Robot Manipulators, New Achievements1 34 ... Send Move(Position Fin ) to RMRA; while ( (New_ X, New_ Y, New_ θ)!=Position Fin ){ Receive (New_ X, New_ Y, New_ θ) from RMRA; Send (New...

Ngày tải lên: 11/08/2014, 23:21

... configuration. i 1 2 3 4 5 )(mmr i [0,200] [0,200] [0,200] [0,200] [0,200] )(mml i [0 ,50 0] [0 ,50 0] [0 ,50 0] [0 ,50 0] [0 ,50 0] )(mmd i [0 ,50 0] [0 ,50 0] [0 ,50 0] [0 ,50 0] [0 ,50 0] )(  i [-180,180] ... i=3 i=4 i =5 i=1 i=2 i=3 i=4 i =5 Initial 65. 6 27.7 24.1 10.0 10.0 0.0 254 .0 254 .0 0.0 0.0 Final 65. 7 28.0 21.8 10.0 10.0 0.0 253 .6 255 .9 0.0 0.0 d i (...

Ngày tải lên: 11/08/2014, 23:21

... 0. 05 0.1 0. 15 0.2 0. 25 -5 0 5 x 10 -5 dx B (m) Time (s) Reference PD-PI FO 0 0. 05 0.1 0. 15 0.2 0. 25 -1 -0 .5 0 0 .5 1 x 10 -3 dy B (m) Time (s) Reference PD-PI FO 0 0. 05 0.1 0. 15 0.2 ... 0. 05 0.1 0. 15 0.2 0. 25 -5 0 5 x 10 -3 dx A (m) Time (s) Reference PD-PI FO 0 0. 05 0.1 0. 15 0.2 0. 25 0 0.0 05 0.01 0.0 15 dy A (m) Time (s) Reference...

Ngày tải lên: 11/08/2014, 23:21

...                 111 16 1033 75. 31033 75. 31033 75. 3 9246.19246.1104409.4 1112.11112.12224.2 G , ( 15)                     161618 332 3318 102927.2103217.210 756 5.3 1 056 29 .51 056 29 .51 01126.1 106 35. 9106 35. 9107347.1 G ...                 111 16 1033 75. 31033 75. 31033 75. 3 9246.19246.1104409.4 1112.11...

Ngày tải lên: 11/08/2014, 23:21

... 2000 1933 1936 253 7 Link 1 0. 25 5 0.16 0.06 0.17 Link 2 2 .5 50 0.79 35. 0 35. 4 Link 3 2 .5 50 0.79 35. 0 35. 4 Link 4 0 .5 10 0.27 0. 45 0.27 Link 5 0. 25 5 0.04 0.06 0.06 Link 6 0 .5 5 0.07 0.23 0.26 Table ... (22) Robot Manipulators, New Achievements3 70 2 1 z 0 y 0 x 0 z 1 x 1 y 1 z B y B x B y 2 x 2 z 2 3 4 5 φ 6 x 3 y 3 z 3 z 4 y 4 x 4 x 5 z 5 y 5 x 6 z 6 y 6 50 0...

Ngày tải lên: 11/08/2014, 23:21