ROBOTIC and AUTOMATION HANDBOOK

... with sides of length 0-8 49 3 -1 80 4 -1 /05$0.00+ $1. 50 © 2005 by CRC Press, LLC Copyright © 2005 by CRC Press LLC 2 -1 2-2 Robotics and Automation Handbook ||X1 ||, ||X2 ||, and ||X1 − X2 || is congruent ... manipulator and hand The MH -1 hand-arm combination had 35 degrees of freedom and Copyright © 2005 by CRC Press LLC 1- 1 2 Robotics and Automatio...

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... -9 9 .11 -7 5.66 -1 62. 83 -1 21 . 64 -1 10 .76 -1 14 . 32 -1 14 .30 -1 14 .30 -1 14 .30 -1 14 .30 -1 14 .30 -1 14 .30 -1 14 .30 -1 14 .30 -1 14 .30 Copyright © 20 05 by CRC Press LLC theta2 -1 39 .17 -2 7. 61 69.98 -3 2. 48 56.05 -2 0.66 ... picked randomly: Iteration 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26...

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... ‘‘dh.dat’’ 0 -9 0 0 24 -9 0 24 90 0 -9 0 0 Copyright © 2005 by CRC Press LLC 3- 3 0 B.9 Robotics and Automation Handbook File ‘‘Tdes.dat’’ -0 .70 710 6 0.70 710 6 12 -1 12 0.70 710 6 0.70 710 6 -1 2 0 B .10 File ... follows: T1,2 = T2 ,3 + d1,2 × m2 a2 + p1,2 × F2 ,3 − d1,2 × m2 g + I2 α2 + ω × I2 ω (4 .12 ) T0 ,1 = T1,2 + d0 ,1 × m1 a1 + p0 ,1 × F1,2 − d0...

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... a2 (6 .48 ) 1 ∗ ˙ ˙ ˙ aC = − L T u1 + u2 − (L P + q + L C )u2 a1 + (L P + q + L C )u1 + −L T u2 + 2u1 u2 a2 (6 .49 ) 1 Copyright © 2005 by CRC Press LLC 6 -1 2 Robotics and Automation Handbook 6 .4. 6 ... consideration Copyright © 2005 by CRC Press LLC 6 -1 4 Robotics and Automation Handbook These nonlinear expressions are then used to determine nonlinear parti...

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... Germany, 12 5 15 1 [44] Samson, C (19 93) Time-varying feedback stabilization of a car-like wheeled mobile robot Int J Robotics Res., 12 , 1, 55 –66 [ 45] Samson, C and Ait-Abderrahim, K 19 91 Feedback ... anholonomy, and optimal movement Proceedings of the IEEE International Conference on Robotics and Automation, 218 5 218 9 Copyright © 20 05 by CRC Press LLC 7-2 4...

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... C S1 a1 + S12 a2  12 12 12  12  A0 =    0 1 d1 − d3 − d  0 Copyright © 2005 by CRC Press LLC (8.35) 8 -1 3 D-H Convention Z6 Y6 X6 Z5 q6 d6 Y5 Z3 X5 q4 Y3 q5 X4 Z4 X3 Y4 d3 q1 Z2 Z 11 Z ... Variable 6 Link Length 8-2 0 Robotics and Automation Handbook expression in Equation (8.24) and Equation (8.25) we get R6 = (U1 V1 )(U2 V2 )(U3 V3 )(U4 V4 )(U5 V5 )(U6 V6 ) (...

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... 10 9, 65–68, 19 87 [ 51] Gimpel, D.J and Calvert, J.F., Signal component control, AIEE Transactions, 339–343, 19 52 Copyright © 2005 by CRC Press LLC 10 Error Budgeting 10 .1 10.2 10 .3 10 .4 10 .5 10 .6 ... Meas., Control, 11 2, 6 67 674 , 19 90 [10 ] Tallman, G.H and Smith, O.J.M., Analog study of dead-beat posicast control, IRE Trans Autom Control, 14 – 21, 19 58 [11...

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... no 12 , pp 8 17 Copyright © 2005 by CRC Press LLC 11 Design of Robotic End Effectors 11 .1 11. 2 Introduction Process and Environment System Design 11 .3 • Special Environments Robot Attachment and ... Engineering, New York [17 ] Kane, V.E (19 86 ) Process capability indices J Qual Technol., vol 18 , no 1, pp 41 52 [ 18 ] Harry, M.J and Lawson, J.R (19 92) Six Sigma Produci...

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... control Copyright © 2005 by CRC Press LLC 1 3 -1 0 Robotics and Automation Handbook 0.5 –0.5 1 0. 01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0. 09 0 .1 FIGURE 13 .4 Multiple continuous-time frequencies can generate ... rotor commutator brush –Vc +Vc S FIGURE 12 .16 Permanent magnet DC brush motor with two poles Copyright © 2005 by CRC Press LLC 1 2 -1 6 Robotics and...

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... ˙ ˙ r 1, 6 = −0.5 1 sin(2q + 2q ) − q (q + q )cos(2q + 2q ) q ¨ r 1, 7 = q Copyright © 2005 by CRC Press LLC (14 .46) 1 4 -1 8 Robotics and Automation Handbook 2.5 q1 Angles (rad) q2 q3 1. 6 10 Time ... least-squares estimates of the model coefficients ϑ = [a1 a2 an b1 b2 bn ]T Copyright © 2005 by CRC Press LLC (14 .40) 1 4 -1 6 Robotics and Automation Handboo...

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... r r C + J m2 r + m2 r r C 2 m2 r + m2 r r C 2 m2 r + J 2 2 2 −m2 r r S2 q − 2m2 r r S2 q q (18.9) 2 m2 r r S q I-T – J cT τff I-T + Fd J cT + force τes controller τsm + robot and constrain ... to control force and improve interactive behavior The control law Copyright © 20 05 by CRC Press LLC 1 9-4 Robotics and Automation Handbook x1 x2 k Fa Fe m2 m1 b3 b1 b2 FIGURE...

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... –3 Y-Direction Tip Position (m) −1 2 −3 −4 5 20 40 60 80 Time (sec) FIGURE 21 .19 Y tip direction Copyright © 20 05 by CRC Press LLC 100 120 2 1 -2 2 Robotics and Automation Handbook 1 .22 Z-Direction ... Copyright © 20 05 by CRC Press LLC 2 2- 6 Robotics and Automation Handbook equation:  x1 ⊗ x1 2   x1 ⊗ x2 LE =    T xn ⊗ xn  T T     s ...

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... lT y N=0 (22 .23 ) from which N can be solved Assume the depth of x and x are λ and λ , then they can be calculated using Copyright © 20 05 by CRC Press LLC 2 2- 1 6 Robotics and Automation Handbook ... haptic Copyright © 20 05 by CRC Press LLC 2 3 -6 Robotics and Automation Handbook interaction force F h and velocity v h and interface/virtual-environ...

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