modeling and motion control of mobile robot for lattice type welding

Ngày tải lên: 03/01/2014, 19:44

... What are the threats to poultry farms? HOW DISEASES MIGHT ENTR POULTRY FARMSHOW DISEASES MIGHT ENTR POULTRY FARMS Poultry Farm Sick birds or Carcasses of Infected Birds People through ... maintenance of poultry on farm? 2 What is segregation and traffic control and how to achieve 2 . What is segregation and traffic control and how to achi...

Ngày tải lên: 23/03/2014, 21:20

... appeared upon acceptance. Fully formatted PDF and full text (HTML) versions will be made available soon. Adaptive access and rate control of CSMA for energy, rate, and delay optimization EURASIP Journal ... clarify how it controls system performance: (7) where , and are suitable continuous, concave functions, and parameters and control the tradeoff betw...

Ngày tải lên: 21/06/2014, 17:20

... 125 ì 86 for Sequence 1 and 160 ì 120 for Sequence 2, and the frame rate is 24 frame/s for both sequences. The input dynamic range of the cameras is 10 bits/pixel. The output dynamic range we ... Professor of elec- tronics at the Department of Electrical and Electronics Engineering of the University of Trieste, Italy. His research interests include nonlinear d...

Ngày tải lên: 22/06/2014, 19:20

... Engineering 11 51 Richmond Street North London, Ontario Canada N6A 5B9 Dr. F. Shadpey Bombardier Inc. Canadair Division 18 00 Marcel Laurin St. Laurent, Quebec Canada H4R 1K2 ISSN 017 0-8 643 ISBN -1 0 3-5 4 0-2 507 1- 9 ... 3-DOF Planar Arm . . . 94 CHAPTER 1INTRODUCTION The problem of position control of robot manipulators was addressed in the 19 70’s to develop c...

Ngày tải lên: 10/08/2014, 01:22

... by (2. 2.4) whereis the Jacobian of the end-effector. For a redundant manipulator, equations (2. 2.1), (2. 2 .2) and (2. 2.4) represent under-deter- mined systems of equations. can be viewed as a ... -dimen- sional null space of the Jacobian . The definition of the null space of implies that (2. 3 .25 ) Pre-multiplying both sides of (2. 3 .23 ) by yields the optimali...

Ngày tải lên: 10/08/2014, 01:22

... geometric primitives to 3Collision Avoidance for a 7-DOF Redundant Manipulator R.V. Patel and F. Shadpey: Contr. of Redundant Robot Manipulators, LNCIS 31 6, pp. 35 78, 2005. â Springer-Verlag Berlin Heidelberg ... 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 -8 0 -7 5 -7 0 -6 5 -6 0 -5 5 -5 0 -4 5 -4 0 Time ( s ) Joint variable q3 Optimization method P=4 Opt...

Ngày tải lên: 10/08/2014, 01:22

... cases of body-body (C-1) and base- base (C-3) collisions can occur: ã (C-1) If , and the projection of either or on is between and , then we have a body-body collision. As in the case of near -parallel ... b j h j t j  P i c P j c H i H j n ij H i H j H i C i H j C j P j c C j B j T j H j P i c C i P j c L i p j c 42 3 Collision Avoidance for a 7-DOF Redundant Manipulator F...

Ngày tải lên: 10/08/2014, 01:22

... results for positi on and orientation tracking: ( a) position error (m); (b) orientation error (rad) 0 0 .5 1 1 .5 2 -6 -4 -2 0 2 4 6 x 10 - 3 (a) time (s) 0 0 .5 1 1 .5 2 -0 .6 -0 .4 -0 .2 0 0.2 0.4 0.6 0.8 (b) time ... 0 .5 1 1 .5 2 2 .5 3 3 .5 4 0 0 . 05 0.1 0 . 15 0.2 0 . 25 0.3 0 . 35 0.4 0 . 45 () time (s) (b) Figure 3.11 Sphere-Sphere Collision...

Ngày tải lên: 10/08/2014, 01:22

... The robot and its associated control hardware and software ã The robot animation software: Multi -Robot Simulation (MRS) system [9], [10], [77]. In order to distinguish between the performance of ... –    = d c R O SOI (c) 66 3 Collision Avoidance for a 7-DOF Redundant Manipulator 80 4 Contact Force and Compliant Motion Control follow a commanded force trajectory....

Ngày tải lên: 10/08/2014, 01:22

... act as a mass- spring-dashpot system with desired inertia, damping, and stiffness in each dimension of the position-controlled subspace of the main and additional tasks. In the force-controlled ... impedance controller which overcomes this problem will be proposed in next section. 4.3 Schemes for Compliant and Force Control of Redundant Manipulators The problem of complian...

Ngày tải lên: 10/08/2014, 01:22

... inac- tive; (e) robot motion - JLA active 0 0.5 1 1.5 2 - 105 - 100 -9 5 -9 0 -8 5 -8 0 -7 5 -7 0 -6 5 (c) time (s) -0 .5 0 0.5 1 1.5 2 - 0.5 0 0.5 1 1.5 -0 .5 0 0.5 1 1.5 2 - 0.5 0 0.5 1 1.5 init ia l time ... 1 -8 0 -6 0 -4 0 -2 0 0 20 40 60 0 0.5 1 1.5 2 - 100 -8 0 -6 0 -4 0 -2 0 0 20 40 60 0 0.5 1 1.5 2 -6 0...

Ngày tải lên: 10/08/2014, 01:22

... Mori 1996). A dynamically-controlled, holono mic mobile robot is particularly desirable in a mobile manipulation system for many reasons. A holonomic robot makes for easier gross motion planning and navi- gation. ... Development and Control of a Ho l onomic Mobile Robot for Mobile Manipulation Tasks Robert Holmberg ∗ and Oussama Khatib The Robotics...

Ngày tải lên: 26/10/2014, 14:32

... Korea This paper presents a motion control method and its simulation results of a mobile robot for a lattice type welding. Its dynamic equation and motion control methods for welding speed and seam tracking ... be controlled for the end of torch to be Modeling and Motion Control of Mobile Robot for Lattice Type Welding 85 installed for...

Ngày tải lên: 26/10/2014, 14:38