closed loop control of a robotic arm

... reach arms can offer a large workspace and fast response However, correction of small end-point errors requires movement of several manipulator actuators Thus, each actuator has to be capable of ... (similar to that of the Macro manipulator), small tracking and steady state errors (similar to that of the Mini manipulator) Thus, the combined system has taken full advantage of the Macro and ... appropriate controller design, offers a possible solution to a wide range of applications that require fast, and precise manipulation over a large workspace [2] There are several advantages offered...

Ngày tải lên: 03/10/2015, 21:56

... reach arms can offer a large workspace and fast response However, correction of small end-point errors requires movement of several manipulator actuators Thus, each actuator has to be capable of ... (similar to that of the Macro manipulator), small tracking and steady state errors (similar to that of the Mini manipulator) Thus, the combined system has taken full advantage of the Macro and ... appropriate controller design, offers a possible solution to a wide range of applications that require fast, and precise manipulation over a large workspace [2] There are several advantages offered...

Ngày tải lên: 04/10/2015, 07:58

... [19] Hasnain, S.M., Alawaji, S.H., A1 -Ibrahim, A and Smiai, M.S (1999), Application of Thermal Energy Storage in Saudi Arabia International Journal of Energy Research, vol 23, pp 117-124 [20] Zaheer-uddin, ... department of Mechanical Engineering and Materials Science at Washington University in St Louis, MO, USA He is a Fellow of ASME, AIAA, IEEE, and SAE E-mail address: rka@wustl.edu Huijun Gao received ... was created to simulate the temperature of the exterior wall of the room This temperature curve simulated the exterior surface and was assumed to be at a constant value of 320K A 3-D Cartesian...

Ngày tải lên: 05/09/2013, 16:11

... self-inductance and the mutualinductance of the stator coils Since we assume a constant airgap and no saturation, L, and M, are constant ara arb , and arc the rotor fluxes induced in the stator phases are ... are surface mounted and have the same permeability as air As a result, the armature reaction is negligible The magnetic circuit has an important air part so that the effects of the saturation in ... linearization control to nonlinear systems [111, Indeed, the nonlinear feedback linearization scheme is based on a coordinate transformation and an input transformation as well But the main advantage...

Ngày tải lên: 03/01/2014, 19:44

... 1, January 1991, pp 62-72 [2] Takao Kawabata, Takeshi Miyashita and Yushin Yamamoto, "Dead Beat Control of threePhase PWM Inverter", IEEE Transactions on Power Electronics, Vol 5, No 1, January ... that it does not affect the output voltage References [1] Takao Kawabata, Takeshi Miyashita and Yushin Yamamoto, "Digital Control of three-Phase Inverter with LC Filter", IEEE Transactions on Power ... c controllable dc link volta as indica in the ri age ated ight hand sub b diagram d Figure capacitor v voltage of the output filt with unbalanced load and controlled DC lin ter d o nk vo oltage...

Ngày tải lên: 19/01/2014, 02:20

... Ferrata 1, 27100 Pavia, Italy 2ARTS Lab, Scuola Superiore Sant’Anna, V.le Piaggio 34, 56025 Pontedera (PI), Italy 3EUCENTRE Foundation, Via Ferrata 1, 27100 Pavia, Italy Page 12 of 13 Authors’ contributions ... control method had been firstly tested onto a virtual-reality model of a 15 DoFs hand [40] Simulations of hand movement were performed employing a real human hand PCs matrix available from Santello ... signal As a matter of fact, increasing the number of DoFs (i e dexterity) means either that the system should take care of carrying out the grasp with some level of automatism, as in the SAMS...

Ngày tải lên: 19/06/2014, 08:20

... For example, Ajay Kapur has designed a robotic drummer that automatically plays along with real human performers, such as sitar players [4] Similarly, researchers at the Georgia Institute of Technology ... Using a mechanical analog parameterization, we derive a force–feedback model structure that enables a human to share con- trol of a virtual percussion instrument with a robotic neural oscillator ... Force–feedback interaction with a neural oscillator model: for shared human–robot control of a virtual percussion instrument Edgar Berdahl∗ (edgar.berdahl@imag.fr), Claude Cadoz (claude.cadoz@imag.fr) and...

Ngày tải lên: 21/06/2014, 17:20

... Salcudean, University of British Columbia, Canada Sebastian Thrun, Stanford University, USA EUR ON ASIA/OCEANIA Peter Corke, CSIRO, Australia Makoto Kaneko, Hiroshima University, Japan Sukhan ... Cristian Secchi ž Stefano Stramigioli ž Cesare Fantuzzi Control of Interactive Robotic Interfaces A Port-Hamiltonian Approach With 86 Figures Professor Bruno Siciliano, Dipartimento di Informatica ... Sant’Anna Pisa, Italy R¨ diger Dillmann, Universit¨ t Karlsruhe, Germany u a AMERICA Ken Goldberg, UC Berkeley, USA John Hollerbach, University of Utah, USA Lydia Kavraki, Rice University, USA Tim...

Ngày tải lên: 10/08/2014, 01:22

Ngày tải lên: 10/08/2014, 01:22

Ngày tải lên: 10/08/2014, 01:22

Ngày tải lên: 10/08/2014, 01:22

Ngày tải lên: 10/08/2014, 01:22

Ngày tải lên: 10/08/2014, 01:22

Ngày tải lên: 10/08/2014, 01:22

Ngày tải lên: 10/08/2014, 01:22

Ngày tải lên: 10/08/2014, 01:22

Ngày tải lên: 10/08/2014, 01:22

... recapitulate IRES activity A possible caveat is that the transfected RNAs may fail to interact with necessary IRES-transacting factors (ITAFs) in the nucleus An alternative approach to measure ... protein & RNA Examples of interacting virusa PFV, HIV-1 PFV Tas and HIV-1 Tat act as RNA silencing suppressors that combat the antiviral effect of small RNA pathway Also miRNAs may be encoded ... translation of PCE-containing mRNAs [46] (Table 2) RHA is a multifunctional DEIH box helicase and RNA binding protein, and deregulation of RHA has been associated with various cancers and autoimmune...

Ngày tải lên: 13/08/2014, 05:21

... mean arterial pressure (MAP) and norepinephrine infusion rate into fuzzy datasets and automatically calculated the required change in rate of infusion MAP level and MAP variation (ΔMAP) – the variables ... Brezins, France) Fuzzy set theory is summarized in the additional materials [see Additional data file 1] The infusion rate changed automatically every minutes after analysis of the MAP and the ΔMAP It ... artefact-predefined values Thus, the MAP regulated by the algorithm is calculated from a set of 42 values of MAP The reason for applying such a process to the data obtained from arterial measures was to increase...

Ngày tải lên: 13/08/2014, 11:23

... work of all the individuals stable platform for mobile manipulation there, especially Anthony del Balso, Rich Legrand, We have also described a new approach for a mod- Jim Slater and John Slater ... (1993, May) Structural properties and classification of kinematic and dynamic models of wheeled mobile robots In Proc IEEE International Conference on Robotics and Automation, Atlanta, GA, pp 462–469 ... the PUMA arm caused large dynamic disturbance torques particularly to the orientation of the base Again, the gains used in this experiment were reduced by a factor of 10 from the typical gains used...

Ngày tải lên: 26/10/2014, 14:32