Motion Control 2009 Part 2 potx

... θαθα +++++ +   21 2 22 2 1 122 2 111 ()()() 22 2 BCC JMVOMVC (4) where i A J and i B J are, respectively, the mass moment of inertia at the origin and at the end of the link i ( =1,2i ). Note ... system, in our case, = 6n , = 2 r n , = 4 e n . If we suppose known the length of the two links, we define (Pham et al., 1991): =+ + + 111 1 2 2 22 2 T A1111 122 222 [,,...

Ngày tải lên: 12/08/2014, 02:23

... Development (SCOReD 20 06), pages 173–177, 20 06. L.A. Zadeh. Fuzzy sets. Information and Control, 8:338–353, 1965. Intelligent Flight Control of an Autonomous Quadrotor 25 1 2. 2 Quadrotor's ... Control, 20 04, № 5. – P. 23 -28 . Maridan AUV, web-site: www.maridan.atlas-elektronik.com Romeo, J. & Lester, G. (20 01). Navigation is Key to AUV Missions. Sea Technology,...

Ngày tải lên: 12/08/2014, 02:23

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Ngày tải lên: 10/08/2014, 20:20

... un- known lubricants, effects of heat) 2. 3 Inspection of bearing environment – Could surrounding parts have grazed against bearing parts anywhere? – Are any other parts close to the bear- ing damaged ... paper making machi- ne found by means of the envelope detection procedure. 048 121 620 24min Operation time 80 40 100 120 140 160 60 80 100 300 Temperature °C Shock value Lubrication...

Ngày tải lên: 11/08/2014, 21:23

... for Attitude Control of A Tethered Body by Arm Link Motion 26 5 Masahiro Nohmi 14. Distributed Control of Multi-Robot Deployment Motion 27 7 Yu Zhou 15. Controlling a ... Gutierrez 20 . Three Degrees-of-Freedom Hybrid Stage With Dual Actuators and Its Precision Motion Control 375 Yonmook Park 21 . FPGA-Realization of a Motion Co...

Ngày tải lên: 12/08/2014, 02:23

... Engineering, pp. 22 1 -22 4 Wang, L X. & Mendel, J.M. (19 92) . Generating fuzzy rules by learning from examples. IEEE Trans. Systems, Man, and Cybernetics, vol. 22 , no. 6, pp. 1414-1 427 Ismail, ... pp. 20 6 21 1. Osaka, Japan. Fraichard, T. & Scheuer, A. (20 04). From Reeds and Shepp’s to continuous-curvature paths. IEEE Trans. on Robotics, Vol. 20 , No. 6, pp. 1 025 –103...

Ngày tải lên: 12/08/2014, 02:23

... AI/PWM Fig. 21 . Configuration of automatic control system 12 - f PPP= 0 ϕ α 1 h 2 h R 1 A 2 A 1o u 2o u O r 1 p 2 p 0 l ' 1 l ' 2 l 12 2 f QQ Q + = 1 p 0 l L T 1 Q 2 Q V X P S P O Fig. 22 . ... closed-loop travelling speed control. Fig. 9. Travelling hydraulic system schematic Motion Control 118 IPC CANbus 1#EPEC 20 23 2# EPEC 20 23 3#EPEC...

Ngày tải lên: 12/08/2014, 02:23

... equations, [ ] [] [] [ ] . 2 ,, , 4 , 4 , ) (2 , ) (2 , ) (2) (2 , ) (24 .0,01 ,, 10 ,, ,,where 22 1 ' 1 120 ' 00 ' 1 ' 010 22 1 2 2 0 2 011011 11 10 1 122 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

... connected by equations: Motion Control 22 2 provide decreasing of d m upon the average, keeping d m = 0 and vehicle angle orientation on target bearing. 7. AUV motion control during investigation ... electromagnetic (Kukarskih & Pavin, 20 08) and video (Scherbatyuk et al., 20 00) systems are known. Such decisions were used in AUVs “AE -2 , “XP -21 ”, and “R-1”. Mot...

Ngày tải lên: 12/08/2014, 02:23

... Motion Control 304 () () 1 23 3 2 2 3 2 3 2 23 1 3 2 3 2 3 2 3 3 0 sin cos cos( ) cos cos sin sin( 2 ) f f f W W ll l l W ll l l l θ θθ θθ θ θ θθ ... -20 -10 0 10 20 -25 -20 -15 -10 -5 0 5 10 15 20 25 30 Fig. 2. Deployment of 120 holonomic mobile robots in an open 2D environment based on the state of the physical neighborhood Motion Control ... angl...

Ngày tải lên: 12/08/2014, 02:23