Robot Manipulators, New Achievements part 10 potx

... orientation with respect to gravity. One then Robot Manipulators, New Achievements4 26 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 0 10 20 30 40 50 60 70 80 90 100 110 Collision velocity (m/s) Maximum measured ... kinematics of planar parallel manipulators, Proceedings of IEEE International Conference on Robotics and Automation, Vol., 4, pp. 3744-3749 Robot Manipulators, New Achieveme...

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... 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 0.0205 Robot with a integrated ... qqMqqqMqqV TT     ~ )( ~ 2 1 ~ )( ~ ) ~ (  . (22) Robot Manipulators, New Achievements3 4 Slotine, J.J.E. & Sastry, S.S. (1983). Tracking control of nonlinear systems usi...

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... 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 deformation ... adaptive partial state feedback controller for RLED robot manipulators, IEEE Trans. Automat. Control 41 (7) (1996) 102 4 ˝ U1030. [Canudas and Fixot 1991] C. Canudas de Wit, N. Fixot, Robot...

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... integrators as   uxDxGxxxCxD v y 1 101 02 210 1 10 )()(),()(     (14) Then, the control law is carried out as     )(),()()( 102 210 1 101 0 xGxxxCxDvxDu   (15) It is ... 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Controlof Robot Manipulat...

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... Storage Technologies 2007, Robot Manipulators, New Achievements1 68 Robot Manipulators, New Achievements1 58 4.5 Remote Manipulator Robot Agent The Remote Manipulator Robot Agent (Fig. 11) is composed, ... 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_ X, New_ Y, New_ θ) to LARA; }...

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... (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 characteristics ... design of Figs.8 to 10 and Table 1. The numerical example for the CaPaMan manipulator has been elaborated in an Intel Robot Manipulators, New Achievements2 08 0 500...

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... when ConcurrentEngineeringof Robot Manipulators 239 Initial 43.4 100 .0 80.0 59.0 40.0 30.0 3473.0 100 .0 120.0 6.2549 Final 43.8 100 .8 80.6 59.5 40.3 30.2 3483.6 100 .8 120.9 5.6307 Wish Design ... Austria, pp. 347-372. Robot Manipulators, New Achievements2 40 Murata, S., Yoshida, E., Tomita, K., Kurokawa, H., Kamimura, A. and Kokaji, S. (2000). Hardware Design of Modular Robot...

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... 400.0 9.8 10  11.0 10  2.0 10  FO 115.0 77.0 10  25.0 10  2.0 10  2 PD  PI 400.0 9.8 10  15.0 10  10. 0 10  FO 100 .0 77.0 10  10. 0 10  4.0 10  3 ... 400.0 9.8 10  11.0 10  2.0 10  FO 115.0 77.0 10  25.0 10  2.0 10  2 PD  PI 400.0 9.8 10  15.0 10  10. 0 10  FO...

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...                                   182 182 2 12217 12217 12 109 389.601. 0107 322.12.146.39976.1 109 389.601. 0107 322.12.146.39976.1 0100 002.202 .109 953.3 109 875. 9103 283. 4104 989. 2104 742.7969.24248.43 109 875. 9103 283. 4104 989. 2104 742.7969.24248.43 109 875.9 0109 979.40938.490 q H G . ...           ...

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... (y) [N] estimated torque [Nm] estimated x10 Time [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. Simulation result of the robot ... (y) [N] estimated torque [Nm] estimated x10 Time [s] Basic Tracking robot 1 robot 2 robot 3 robot 1 robot 1 robot 2 robot 2 robot...

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