Beyond change management advanced strategies for todays transformational leaders

... Ten Strategies For Better Time Management The term Time Management is a misnomer You cannot manage time; you manage the events in your life in relation to time You may often wish for more time ... yourself for a time management success Take time to recognize that you have accomplished a major task or challenge before moving on to the next activity Regardless of th...

Ngày tải lên: 21/02/2014, 21:20

... defining Z4× = M 4× 1 and I × = J 2× 1 Eq (30) can be rewritten in the compact form as: q 11 = ( x9 0) , (33) q22 = ( x1 x3 ) , q12 = ( x9 x 11 ) , and where q 21 = ( x1 U = ( u1 u2 ) Remember that ... + + 18 Advanced Strategies for Robot Manipulators where the final bound of control for each motor is obtained as: + u = τ − S x 11 − ; u = − τ − S x 11 u = τ − S x 12 − ; u...

Ngày tải lên: 10/08/2014, 21:22

... = L2 + L2 − ⋅ L2 ⋅ L2 ⋅ cosθ 11 12 11 12 A2 = L2 + L2 − ⋅ L2 ⋅ L2 ⋅ cosθ 21 22 21 22 (19) The control wires curvature radius R1 and R2 are given by the relations (20 ): R1 = A1 ⋅ sin θ R2 = A2 ... computed: L11 = R + D1 ⋅ cos(α ) L21 = R + D1 ⋅ cos(α ) L31 = R + D1 ⋅ cos(α ) L 12 = R + D2 ⋅ cos(α ) L 22 = R + D2 ⋅ cos(α ) L 22 = R + D2 ⋅ cos(α ) (22 ) 35 Hyper Redundant Manipulators...

Ngày tải lên: 10/08/2014, 21:22

... [$1 λ2$2 + 3$ 3] = λ2 [$1 $2] + 3 [$1 $3] [λ$1 + λ2$2 $3] = λ1 [$1 $3] + λ2 [$2 $3] Jacobi identity, [$1 [$2 $3] ] + [ $3 [$1 $2]] + [$2 [ $3 $1]] = (0, 0) Furthermore, the Lie algebra e (3) is endowed ... http://www.sagepublications.com [ 23] R K Mittal and I J Nagrath, Robotics and Control; 2005, Tata McGraw Hill [24] Robot and Robotic Glossary, http://www.kcrobotics.com /robot_ inform...

Ngày tải lên: 10/08/2014, 21:22

... linkages provide for seven revolute joints for Σji = ∗ = and two closed loops for n = The resulting mobility: m = − ∗ = which is verified by experiments 114 Advanced Strategies for Robot Manipulators ... −2 (52 ) We have then extrapolated for a linear actuator constructed with n rhombuses: a α =2 nr 4− x2 n2 r ⎛ x2 ⎞ − v xn r ⎜ − ⎟ n2 r ⎠ ⎝ −3 −4 −2 (53 ) 124 Advanced St...

Ngày tải lên: 10/08/2014, 21:22

... Sliding Mode Control of Robot Manipulators via Intelligent Approaches Fig 25 (sim1) NN control effort 167 168 Advanced Strategies for Robot Manipulators (a) (b) Fig 26 (sim2) Tracking error of ... Sliding Mode Control of Robot Manipulators via Intelligent Approaches (a) (b) Fig 23 (sim1) Tracking error of joints, (a) FSM_PID (b) NNSM_PID 165 166 Advanced Strategies for...

Ngày tải lên: 10/08/2014, 21:22

... architecture, particularly the spatial tracking error is analyzed for both controllers  174 • • • Advanced Strategies for Robot Manipulators Section VI provides time domain simulation results and performance ... [ ] the platform's orientation a) Inferior base b) Superior base Fig Platform Geometric Model – Actuators reference points  176 Advanced Strategies for Robot Ma...

Ngày tải lên: 10/08/2014, 21:22

... et al., (20 08) An adaptive 2 18 Advanced Strategies for Robot Manipulators approach involving task–space coordinates, and considering the uncertainities of the kinematic model of the robot manipulator ... Preliminaries 2.1 Robot dynamics The dynamics of a serial n–link rigid robot, without the effect of friction, can be written as (Spong & Vidyasagar, 1 989 ): 220 Advanced...

Ngày tải lên: 10/08/2014, 21:22

... 199 8; Berkemeier & Fearing, 199 9; Spong, 199 5; Ono et al., 2001; Nakanishi et al., 2000; Funda et al., 199 6; Luca et al., 2000; Luca & Oriolo, 2002; Arai & Tachi, 199 1; Mukherjee & Chen, 199 3;Yu ... 1333-1341 Arimoto, S ( 199 5) Fundamental problems of robot control: Part I, Innovations in the realm of robot servo–loops Robotica, Vol 13, pp 19 27 240 Advanced Strategies for...

Ngày tải lên: 10/08/2014, 21:22

... the class of controllers 280 Advanced Strategies for Robot Manipulators (a) C S1 S3 gain 10 −1 10 10 10 10 10 frequency (rad/s) (b) C S1 S3 gain 10 −1 10 10 10 10 10 frequency (rad/s) (a) Frequency ... the minimal damping factor of × 10- 4 (a) nominal case (b) perturbed case (a) C S1 S3 gain 10 −1 10 10 10 10 10 frequency (rad/s) (b) C S1 S3 gain 10 −1 1...

Ngày tải lên: 10/08/2014, 21:22

... tracking Fig 11 Experimental trajectory tracking for the predicted X coordinate Fig 12 Experimental trajectory tracking for the predicted Y coordinate 306 Advanced Strategies for Robot Manipulators ... location, the robot s trajectory equations are solved, a set of joint variables 304 Advanced Strategies for Robot Manipulators is calculated, and the controller is di...

Ngày tải lên: 10/08/2014, 21:22

... Target Assignment and Intercept for Unmanned Air Vehicles IEEE Transactions on Robotics and Automation, Vol 18, No 6, pp 911-922, 2002 362 Advanced Strategies for Robot Manipulators [Caballero et ... laparoscope manipulating robot based on the use of Stewart-Gough platform architecture provides both flexibility and accuracy while maintaining safety 368 Advanced Strategies...

Ngày tải lên: 10/08/2014, 21:22