Robot manipulators trends and development 2010 Part 2 pptx

... 20 08; Ariffin, 20 07; Mohd Salih, 20 08; Abdul Rahim, 20 08; Muhammad Noor, 20 05; Arifin, 20 07; Zainal, 20 08; Shafei, 20 08, and Sukimin, 20 07). Different types of robots were involved Robot Manipulators, Trends and Development6 6 Fig. ... 20 08; Ariffin, 20 07; Mohd Salih, 20 08; Abdul Rahim, 20 08; Muhammad Noor, 20 05; Arifin, 20 07; Zainal, 20 08; Shafei, 20 08,...

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... of the 20 06 IEEE Int. Conf. Intelligent Robots and Systems, pp. 7– 12, 20 06. Robot Manipulators, Trends and Development4 96 Robot Manipulators, Trends and Development4 74 Fig. 10. Robotc test ...           0918.0cos0954.00918.0 cos0954.00918.0cos1908.0 727 7.1 2 22 q qq M ;                5783.12sin3418.0 sin0954.0sin0954.081 92. 31 12 2 122 2 qq...

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... workspace of a robot arm, Proceeding of the IEEE 23 rd Conference on Decision and Control, pp. 22 80 22 83 Feng, X. & Sander, S.T. & Ölvander, J. (20 07). Cycle-based Robot Drive Train ... power consumption Robot Manipulators, Trends and Development2 8 2. Robotic Modelling Method This section presents the methodology in modelling and simulating the robot and its...

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... = 1 2 m 2 gl 2  m 2 l 2 1 + 1 4 m 2 l 2 2 s 2 2 + J 1  s 2 ∆ −  m 2 l 2 1 + 1 4 m 2 l 2 2 s 2 2 + J 1  b 2 x 4 ∆ + 1 4 m 2 l 2 2 [m 2 l 2 1 (x 2 3 − x 2 4 )s 2 c 2 + 1 4 m 2 l 2 2 x 2 3 s 3 2 c 2 + J 1 x 2 3 s 2 c 2 + m 2 l 1 l 2 x 3 x 4 s 2 c 2 2 ] ∆ ∆ = ... = 1 2 m 2 gl 2  m 2 l 2 1 + 1 4 m 2 l 2 2 s 2...

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...                      rsrt t L R r c c m r r xkvfev l Bnu R k m t d x d c 1 1 2 2 , (2) Robot Manipulators, Trends and Development2 72 Finally, the coupling torque affecting the motor dynamics (see Equation (1)) is defined as  coup =–2EIu 1 ,2 . Notice that ...                          2 45 45 2 45 1 1 1 b b p p w a and 1 0 2 4...

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...    ,      21 cos 12 aa qqC ,      21 sin 12 aa qqS , 23 131 SCaD   , 121 22 DSCaD   , 23 1 321 23 CSaCSaD   , 23 134 SSaD   , 421 25 DSSaD   , 23 1 321 26 CCaCCaD   , Robot Manipulators, Trends and Development3 28          ...

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... over and played the main role in generating actuation voltages for the robot. On the other hand, in the experimental Robot Manipulators, Trends and Development3 60 Robot Manipulators, Trends and Development3 80 ... 5 -2. 5 -2. 4 -2. 3 -2. 2 -2. 1 -2 -1.9 -1.8 -1.7 -1.6 -1.5 The orientation qa2 of the arm time (sec) qa2 (rad) Fig .21 . Articulation q a2 curve 0 0.5 1 1.5 2...

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... 4 det 0T  M (25 ) Eq. (25 ) is a third order equation in 1 x , 2 x , and 3 x and can be used to reduce the degree of Robot Manipulators, Trends and Development4 02 The feedback control ... 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 alo...

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... Vision-based2D and 3DControlof Robot Manipulators 457 For the forward kinematic: p R xc = C 1 (a 2 C 2 + a 3 C 23 ) p R yc = S 1 (a 2 C 2 + a 3 C 23 ) p R zc = a 2 S 2 + a 3 S 23 + d 1 Where S 23 is ... Vision-based2D and 3DControlof Robot Manipulators 441 Vision-based2D and 3DControlof Robot Manipulators LuisHernández,HichemSahli and RenéGonzález 0 Vision...

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... Electrical and Electromechanical Applications, Springer-Verlag, ISBN: 978-18 523 30163, 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 ... 800mm deep and 120 0mm high. In this system, each unit corresponds to one process. Robot Manipulators, Trends and Development5 18 -80 -70 -60 -50 -40 -30 -20 -10 0 10...

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