Nonlinear control of flexible link robots and nonholonomic robotic systems

... ÐÐÝ Ø Ị ÙÐ Ư « Ư Ị ØÛ Ị Ư Đ × ÜÇÝ Ị Ç º Ø Y1 Payload yN θ2 Y2 y1 Motor Link O2 Link N ON X2 y2 YN θN xN Motor N XN Motor x2 Link x1 θ1 O1 X1 Motor ÙƯ ¿º½ ĨƯ Ø ×Ý×Ø Đ ×Ư ĨĐ ØƯÝ Ĩ Ø ĨÚ ¸ Ø Ï ĐÙÐØ

Ngày tải lên: 17/09/2015, 17:17

... representations of the position of the flexible link By generalizing the modeling of single link robot, the modeling of a n -link robot is presented From the simulation results of the proposed controller ... can be directly controlled by motors, and thus the number of the variables to be controlled is equal to the number of the control inputs For flexible link...

Ngày tải lên: 26/11/2015, 12:31

... mR ˜  F1 ˜ ˜ F = F2  ˜ F3 ˜ B = 0 u1 ˜ 12 0 , u = uβa B (1. 10) (1. 11) (1. 12) (1. 13) 2 ˜ M 11 = Ixf + Ixw + Ixw Cβ + mR2 Cβ + Ixf Cββa (1. 14) ˜ M13 = 2Ixw Cβ + mR2 Cβ (1. 15) ˙ ˙˙ ˜ F1 = (Ixw ... simplification and assumption, the dynamics becomes( [16 ] and [18 ]): ˙ βa = uβa ˜ q ¨ ˜ q ˜ ˜˜ ˙ M (˜)q = F (˜, q ) + B u ˜ 13 (1. 9) with   α q = β  ˜ γ ˜  ˜ M 11 M13 ˜  M =...

Ngày tải lên: 14/09/2015, 08:37

... (4 .22 )  2IxW + mR2  M13 IxF IxF     F1 0     u1 F  0 0 F =  2 , B =  ,u = u2 F3  1 0 F4 where, M11 = IxF + IxW + IxW cos2 β + mR2 cos2 β + IxF cos2 (β + βa ) M13 = 2IxW ... + mR2 ) cos β sin β 2 − IxF cos (β + βa )sin(β + βa ) 2 ˙ ˙ −(2IxW + mR2 ) sin β αγ − 2IxF sin (β + βa )αγa ˙˙ ˙˙ F3 = 2( IxW + mR2 ) sin β αβ ˙ ˙ F4 = −IxF cos (β + βa ) sin (β + βa ) 2 − 2IxF...

Ngày tải lên: 14/09/2015, 08:37

... budget on HDD servo systems, and hence more demanding tasks with the modeling and control design This calls for a more careful study of the dynamic characteristics of HDD servo mechanism and further ... towards modeling and compensation of friction and nonlinearities in HDD servo systems These are the main points of this chapter In the next chapter, or C...

Ngày tải lên: 15/09/2015, 22:15

... the effects of purple membrane lipids on both the M turnover time constants and the flexibility of the bacteriorhodopsin transmembrane a-helices Materials and methods Purple membranes were extracted ... Fig Infrared spectra from 1710 to 1490 cm-1 of native purple membrane (solid line), purple membrane exposed briefly to Triton (dashed line), and purple membr...

Ngày tải lên: 17/03/2014, 03:20

... processing unit Fig E2 and E3BP domains and their binding interactions E2 subunit domains: L1, N-terminal lipoyl domain; L2, inner lipoyl domain; B, E1 binding domain; I, oligomer-forming, acetyl-transferase-catalyzing ... L2 In a second region at the other end of the L2 domain, mutation of glutamates 16 2, 17 9 and 18 2, and glutamine 18 1 greatly reduces binding...

Ngày tải lên: 17/03/2014, 09:20

... from DPIVic and University of Queensland Posters # 65 Nitrogen affects lettuce susceptibility to downy mildew (Bremia lactucae) # 66 Anthracnose disease on lettuce affected by variety and nitrogen ... known and unknown resistance to DM and Anthracnose • Downy mildew – susceptible varieties • Anthracnose – all varieties with varying degrees of susceptibility 80 Pe...

Ngày tải lên: 31/03/2014, 11:20

... the absence of any role of leaf water status in explaining the afternoon depression of A in a range of species of the temperate zone In fact, the diurnal changes in A in the J copaia leaflets were ... clear depression of A during the afternoon Midday depression cannot entirely be taken into account by the concurrent stomatal closure, since in the...

Ngày tải lên: 09/08/2014, 04:20

... the wild-type toxin [13] Antibodies that prevent botulism are presumed to inhibit binding of the toxin to neurons and thereby impede entry of the toxin into the cell Staphylococcal enterotoxin B ... buffered formalin Histology and immunohistochemistry Formalin-fixed tissues for histology were trimmed, processed, and embedded in paraffin according to established protocols [...

Ngày tải lên: 11/08/2014, 10:23

... Abdelatti MO: A cuff pressure controller for tracheal tubes and laryngeal mask airways Anaesthesia 1999, 54:981-986 Resnikoff E, Katz JA: A modified epidural syringe as an endotracheal tube cuff ... cuff pressure- controlling device Anesth Analg 1990, 70:208-211 Yoneda I, Watanabe K, Hayashida S, Kanno M, Sato T: A simple method to control tracheal cuff pressure i...

Ngày tải lên: 13/08/2014, 08:20

... protocols that have been used for genetic studies Many factors have to be taken into account to assess Salmonella resistance i.e infectious doses, Salmonella serotypes and strains, route and age ... 50% of dead animals (LD50), internal organ contamination, presence/ absence of Salmonella, Salmonella count, etc The main infection models used to identify genes for resi...

Ngày tải lên: 14/08/2014, 13:21

... Convergence and Robustness Prentice-Hall, Engle-wood Cliffs, NJ (1989) Campion, G., d’Andrea-Novel, B., Bastin, G.: Modeling and State Feedback Control of Nonholonomic Mechanical Systems In: ... Proceedings of the 30th Conference on Decision and Control, IEEE, pp 1184–1189 England (1991) Campion, G., d’Andrea-Novel, B., Bastin, G.: Controllability and state feedback stabilizat...

Ngày tải lên: 12/10/2014, 08:30

... charge of the execution of the high-level velocity commands For each wheel, an 8-bit ST6265 microcontroller imple- Control of Wheeled Mobile Robots: An Experimental Overview PC ROBOT ωL PID microcontroller ... facts: Control of Wheeled Mobile Robots: An Experimental Overview 37 • The unicycle reaches the origin with a horizontal tangent (θ = or π), because...

Ngày tải lên: 26/10/2014, 14:32

... Rotation of the Timoshenko beam without control 136 xi List of Figures 6.4 Displacement of the Timoshenko beam with boundary control 136 6.5 Rotation of the Timoshenko beam with boundary ... chemical process control, vibration suppression of flexible mechanical systems, etc Recent progress in the boundary control is summarized in [46] An overview on the boundary co...

Ngày tải lên: 09/09/2015, 18:48