Robot Manipulators, New Achievements part 14 pptx

... corresponds to the inverse kinematic model. Robot Manipulators, New Achievements6 06 robot in closed form. The first step is to characterize the robot in a vectorial model, for any position, ... applied in the KUKA robot controller. The validation of the models works with oblique trajectories passing through two singularities of the robot geometry. Robot Manipulators, New Ach...

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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 ... to Robot Manipulators, New Achievements5 6 deformation compensation shows a less than 0.1 mm surface error, which is in the range of robot path accuracy. Fig. 17. A. Cylinder head part...

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... estimator b u y y r x ˆ est  ˆ Robot Manipulator Robot Manipulators, New Achievements1 06 Vischer, P. (1996). Improving the Accuracy of Parallel Robots, Ecole Polytechnique Federale ... global system (robot + state observer + controller) can be carried out using error models (54) and (60) )()()( ttt  BAee    (63) where, Robot Manipulators, New Achievements8 2...

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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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... to scale all the objective functions. In particular, weighting factors w i are chosen so that each product w i Robot Manipulators, New Achievements2 14 where U j (j=1,…,n) is the j th input ... 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...

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... enhancement, Robotics and Autonomous Systems, No. 19, pp. 135 -142 . Hu, X. (2005). Applying Robot- in-the-loop Simulation to Mobile Robot Systems, 12th International Conference on Advanced Robotics ... 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 Roboti...

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... pp. 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, New Achievements2 98 ... (b) 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...

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... parallel robot leg decide that its motions are within the range of angle limits. So Rodrigues parameter method is adopted to describe the parallel robot leg. Robot Manipulators, New Achievements3 14 Passivity-basedVisualForceFeedbackControlforEye-to-HandSystems ... parallel robot leg decide that its motions are within the range of angle limits. So Rodrigues parameter meth...

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... [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 system equipped ... [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 r...

Ngày tải lên: 11/08/2014, 23:21