Robot manipulators trends and development 2010 Part 1 docx

... than 10 %. Robot Manipulators, Trends and Development1 6 randomization and a forgetting factor are introduced for improvement of finding the global optimum (Krus et al., 19 92; Ölvander, 20 01) . ... original) VII Contents Preface V 1.  OptimalUsageof Robot Manipulators 0 01 BehnamKamrani,ViktorBerbyuk,DanielWäppling,XiaolongFeng and HansAndersson 2. ROBOTICMODELLING AND...

Ngày tải lên: 11/08/2014, 23:22

...                          2 45 45 2 45 1 1 1 b b p p w a and 1 0 2 45 45 2   p p b b p p a a , (6)                          2 12 12 1 12 1 1 1 b b p p w z and 1 0 1 12 12 1   z z p p b b p p ... depending on the pressure ratio and on the critical pressure ratio,                    ...

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... 0 1 0 1. 25664, 0 1 0 1. 5708, 0 1 0 1. 88496, 0 1 0 2 .19 911 , 0 1 0 2. 513 27, 0 1 0 2.82743, 0 1 0 3 .14 159, 0 1 0 3.45575, 0 1 0 3.769 91, 0 1 0 4.08407, 0 1 0 4.39823, 0 1 0 ... 0 1 0 1. 25664, 0 1 0 1. 5708, 0 1 0 1. 88496, 0 1 0 2 .19 911 , 0 1 0 2. 513 27, 0 1 0 2.82743, 0 1 0 3 .14 159, 0 1 0 3.45575,...

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... 10 12 ,  = 0 .1) A L7 =       − 816 .9997 12 .5050 − 51. 0842 −64.08 61 31. 8003 23.8482 −772.7024 14 9 .16 21 122.7602 −75.3 718 −3.0 714 13 9.9543 − 412 .14 21 3 61. 2027 17 6.7926 19 3.3 011 12 8.28 31 ... 10 12 ,  = 0 .1) A L7 =       − 816 .9997 12 .5050 − 51. 0842 −64.08 61 31. 8003 23.8482 −772.7024 14 9 .16 21 122.7602 −75.3 718 −3.0 714 13 9.9543...

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...    ,      21 cos 12 aa qqC ,      21 sin 12 aa qqS , 2 313 1 SCaD   , 12 122 DSCaD   , 2 313 212 3 CSaCSaD   , 2 313 4 SSaD   , 4 212 5 DSSaD   , 2 313 212 6 CCaCCaD   , Robot Manipulators, Trends and Development3 28          ...

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... for the robot. On the other hand, in the experimental Robot Manipulators, Trends and Development3 60 Robot Manipulators, Trends and Development3 80 lighting method (Awahara & Taki, 19 79), ... arm and the orientation of the platform are depicted in Figs. 27, 28, 29 and 30 respectively. Robot Manipulators, Trends and Development3 76 Robot Manipulators, Trends and Development...

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... b M  . Fig. 2. Attaching a 1- cell to a topological space Y. Robot Manipulators, Trends and Development4 12 Robot Manipulators, Trends and Development3 94 Fig. 16 . Tracking error along half ... W 1 will be used as a numerical application. The parameters defining manipulator W 1 are reported in Table 1. p 1 p 2 p 3 q 1 q 2 q 3 (1, 0,0) (0 ,1, 0) (0 ,1, 1)...

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... p 1 p 2 p 3 q 1 q 2 q 3 r 1 r 2 r 3 (1, 0,0) (0 ,1, 0) (0 ,1, -1) (1, 1 ,1) (0 ,1, -1) (1, 1 ,1) (1, 0 ,1) / 2 (1, 0 ,1) / 2 (1, 0 ,1) / 2 Table 2. Parameters defining manipulator T 1 In ... p 1 p 2 p 3 q 1 q 2 q 3 r 1 r 2 r 3 (1, 0,0) (0 ,1, 0) (0 ,1, -1) (1, 1 ,1) (0 ,1, -1) (1, 1 ,1) (1, 0 ,1) / 2 (1, 0 ,1) / 2 (1, 0 ,1) / 2 Ta...

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... 5 10 0 10 0 10 0 10 0 10 0 10 0 10 0 10 0 10 10 0 10 0 10 0 10 0 10 0 10 0 87 10 0 15 9 8 10 0 96 10 0 82 10 0 72 10 0 20 9 1 100 81* 97* 5 8 10 0 51* 82* 25 53 10 0 73* 93* 37* 91* ... Intelligent Robots and Systems, pp. 7 12 , 2006. Robot Manipulators, Trends and Development4 96 Robot Manipulators, Trends and Development4 74 Fig....

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... 978 -18 5233 016 3, Berlin. Robot Manipulators, Trends and Development5 14 0 2 4 6 8 10 12 14 16 18 0 0.02 0.04 0.06 0.08 0 .1 0 .12 Time [sec] q 1 [rad] Reference q 1 Fig. 13 . Time evolution of 1 q ... 16 0 0.2 0.4 0.6 0.8 1 1.2 Time [sec] q 1 [rad] Reference q 1 Fig. 10 . Time evolution of 1 q 0 2 4 6 8 10 12 14 16 -1. 6 -1. 4 -1. 2 -1 -0.8 -0.6...

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