Motion Control 2009 Part 1 pptx

... 18 . Characteristics of Mechanical Noise during Motion Control Applications 3 51 Mehmet Emin Yüksekkaya, Ph.D. 19 . Hybrid Magnetic Suspension Actuator for Precision Motion Control ... and Its Precision Motion Control 375 Yonmook Park 21. FPGA-Realization of a Motion Control IC for X-Y Table 395 Ying-Shieh Kung and Ting-Yu Tai Motion...

Ngày tải lên: 12/08/2014, 02:23

... speed 1 v is given, the vehicle center speed can be get 11 1 1 1 (cos sin ) 1. 5 P RB Vv v RL ϕ ϕ == + . Consequently, the kinematical function of vehicle motion can be depicted as 11 1 11 1 11 cos ... diagonal steering, and center steering, are given in (19 ), (20) and ( 21) , respectively as follows. 5ww 1 5 412 313 212 11 5 5 1 44 12 33 13 22 12 ,cot05...

Ngày tải lên: 12/08/2014, 02:23

... Representation 11 10 10 10 30 11 110 59 11 1 011 Note: We are not using the word "continuous" here in the sense of continuously differentiable, as is common in math texts. Pa g e 22 of 20 9Control ... cost. Adaptive Control In adaptive control, the control changes it's response characteristics over time to better control the system. N onlinear Control...

Ngày tải lên: 09/08/2014, 07:20

... under no. 12 010 10 01 Robotics, Automation and Control, Edited by Pavla Pecherková, Miroslav Flídr and Jindřich Duník p. cm. ISBN 978-953-7 619 -18 -3 1. Robotics, Automation and Control, Pavla ... mentioned design steps (Lino et al., 2008): ( ) ( ) ( ) ( ) −−− −=− 11 2 10 1 1 az y t bz bz u t (13 ) Robotics, Automation and Control 8 For short pipes, the Compres...

Ngày tải lên: 11/08/2014, 21:22

... Neural Control 3.07 × − 3 10 5 .19 × − 3 10 1. 14 × − 3 10 1. 60 × −3 10 Nonlinear Control 4. 31 × − 1 10 1. 90 × − 1 10 2.98 × − 1 10 8.92 × −2 10 Motion Control 36 where A(q) is the ( ... 2 C M = 1. 0 Mass density (kg/m 3 ) ρ 1 = 7860 ρ 2 = 7860 Young’s modules 1 E = 1. 98 10 11 2 E = 1. 98 10 11 Quadratic moment of section (m 4 )...

Ngày tải lên: 12/08/2014, 02:23

... Conference on, pp. 16 71 16 77. doi: 10 .11 09/ROBIO .2009. 4 913 252. Choset, H., Lynch, K., Hutchinson, S., Kantor, G., Burgard, W., Kavraki, L. & Thrun, S. (2005). Principles of Robot Motion: Theory, ... Robotics and Vision, vol. 1, pp. 13 6 14 0 Latombe, J. C. (19 91) . Robot motion planning, Norwell, MA: Kluwer Murray, R. M. & Sastry, S. S. (19 93). Nonholonomic moti...

Ngày tải lên: 12/08/2014, 02:23

... ] . 2 ,, , 4 , 4 , )(2 , )(2 , )(2)(2 , )(24 .0, 01 ,, 10 ,, ,,where 2 21 ' 11 20 ' 00 ' 1 ' 010 22 1 2 2 0 2 011 011 11 10 11 22 N c ccacccacc VMI llcc c MI lcc c VMI lclc b MI cc b VMI ccIlclcM a I lclc VMI lcc a cDC ccabba cb B aa A Nuay cNbcacax f y rrf y rf y rrff y rf y rfylrff y rrff y rf tt tt yt T yyt =−=−= == − −= + = +++ = − −= == ⎥ ⎦ ⎤ ⎢ ⎣ ⎡ ++ =...

Ngày tải lên: 12/08/2014, 02:23

... relative position of the vehicle and target. PID -control with limitations for the value of control responses is described: 0 0 11 12 3 12 3 22 11 max ,, cos sin , sin cos , () tt xz tt xx z z ... zzz III λ λ =+ =+ (1) where λ 11 , λ 22 , λ 33 , λ 55 , λ 66 – added masses and liquid inertia moment, T x1 , T y1 , T z1 , M y ctrl , M z ctrl – projection of control...

Ngày tải lên: 12/08/2014, 02:23

... Experiment for Attitude Control of A Tethered Body by Arm Link Motion 269 ∫ = dt ii ωθ , ( i = 0, 1 ). (2) Also, assuming θ 1 , θ 2 , φ 1 , φ 2 << 1, [ ] T 01 1 φφ −=− l r pp . ... equation (1) can be rewritten as: [ ] T 10 0 φφ ln rr −×−= pnτ . (4) Employing the following control equation of arm link motion: ⎥ ⎦ ⎤ ⎢ ⎣ ⎡ + ⎥ ⎦ ⎤ ⎢ ⎣ ⎡ = ⎥ ⎦...

Ngày tải lên: 12/08/2014, 02:23

... [ ] diag 0 .1 0 .1 0 .1 0 .1 0 .1 0 .1 a D =K [1/ s], Control parameters of the finger robot: 444 diag 1. 5 10 1. 5 10 1. 5 10 f P ⎡ ⎤ =××× ⎣ ⎦ K [Nm/rad], 333 diag 0.4 10 0.4 10 0.4 10 f I ⎡ ⎤ =××× ⎣ ⎦ K ... gives the direction angle of the vector Motion Control 290 -30 -25 -20 -15 -10 -5 0 5 10 15 20 -20 -15 -10 -5 0 5 10 15 20 Fig. 5. Dep...

Ngày tải lên: 12/08/2014, 02:23