mechanical systems design handbook modeling measurement and control
Modeling, Measurement and Control P18
Ngày tải lên :
18/10/2013, 09:15
... Figures 18.5, 18.6, and 18.7 where
(18.30)
and for i = 1, 2, …, n, j = 1, 2, …,m we have
(18.31)
For j = 1 we replace t
2ij
with
For j = m we replace t
6ij
and t
7ij
with
where and i + n = i. ... × 25) = (36 × 75) ∗ (75 × 25).
and the dimensions are (36 × 6) = (36 × 18) ∗ (18 × 6).
and the dimensions are (36 × 24) = (36 × 36) ∗ (36 × 31) ∗ (31 × 24).
The control inputs u
αij
are defined ... (18.21) and (18.22)
into (18.24) yields the relationship between q and the independent variables t
5
, t
1
, r
1
, r
2
as follows:
(18.27)
To put (18.27) in a matrix form, define the matrices:
and
P
II
II
II
II
II
II
II
II
1
33
33
33
33
1
33
33
33
33
1
2
=
−
−
=
−
−
−
∆∆
00
00
00
00
00
00
00
00
qrtttr
qr
qrttt
111
11
1
11...
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Modeling, Measurement and Control P21
Ngày tải lên :
25/10/2013, 13:15
... the
procedure consists of three design systems — fundamental mechanism design, inner mechanism
design, and detailed structure design, described as follows:
1. Fundamental mechanism design is based on kinematic ... previous design again. The CAD system is an interactive design system; the operator can
repeatedly alternate between design change and evaluation. The details of the above-mentioned
design systems ... parameters and evaluation functions. Accordingly, computer-aided
design (CAD) is significant for designing suitable robots for objective tasks and saving manpower,
time, and costs required for design.
21.2.1...
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Modeling, Measurement and Control P23
Ngày tải lên :
29/10/2013, 20:15
... the command
and control of a vector such as position or force is not enough to control the interaction between
systems (dynamic networks). The controller must also be able to command and control ... measurements, and a controller involving a PD regulator and robust control part. The
purpose of the robust controller is to ensure that the control tracking error (i.e., the difference
between target and ... adaptive control scheme with Whitney’s damping
control loop. Several authors have pursued Craig’s adaptive inverse dynamic control algorithms
54
and
expanded its application to contact motion. Lu and...
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Modeling, Measurement and Control P24
Ngày tải lên :
29/10/2013, 20:15
... highly adaptive robotic systems.
References
1. A. Guez and J. Selinsky. Neurocontroller design via supervised and unsupervised leaning. Journal
of Intelligent and Robotic Systems, 2(2–3):307–335, ... consequent is a control action. Thus, the rule base can be represented as:
R
1
: if X
1
is A
11
and … and X
n
is A
1n
, then Y
1
= B
11
and … and Y
m
= B
1m
R
2
: if X
1
is A
21
and … and X
n
... logic in control systems: Fuzzy logic controller. IEEE Transactions on Systems,
Man and Cybernetics, 20(2):404–435, April 1990.
29. C.M. Lim and T. Hiyama. Application of fuzzy logic control to...
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Modeling, Measurement and Control P26
Ngày tải lên :
09/11/2013, 05:15
... useful for system simulation and
control.
26.4 Control of Mobile Robots
A variety of control systems with mobile robots are currently in use. The simplest control systems
were developed for so-called ... The control station consists of a TV monitor, and a control panel with
joysticks and pushbutton commands. Bi-directional radio links allow simultaneous transmission of
1. Commands from the control ... desired (commanded) one. In this case, the above equation becomes
(26.34)
where u
R
and u
L
are left- and right-wheel control inputs. From (Equations 26.22 and 26.23) we
obtain:
(26.35)
and
(26.36)
FIGURE...
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Tài liệu Modeling, Measurement and Control P31 doc
Ngày tải lên :
17/12/2013, 13:15
... Press LLC
MECHANICAL
SYSTEMS
DESIGN
HANDBOOK
THE
Modeling, Measurement,
and Control
© 2002 by CRC Press LLC
Contents
SECTION I Manufacturing
1
Manufacturing Systems and Their Design Principles
... Mechanical Systems Design Handbook, Osita D.I. Nwokah
The RF and Microwave Handbook, Mike Golio
The Mobile Communications Handbook, 2nd Edition, Jerry D. Gibson
The Ocean Engineering Handbook, ... Methodist University
Dallas, Texas
MECHANICAL
SYSTEMS
DESIGN
HANDBOOK
THE
Modeling, Measurement,
and Control
Contributors
Rajesh Adhikari
Department of Mechanical and
Aerospace Engineering
University...
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Tài liệu Modeling, Measurement and Control P28 docx
Ngày tải lên :
17/12/2013, 13:15
... overview of the state of the art and current trends in robot design and
application. Industrial and service robots will be considered and typical examples of their system
design will be presented in ... State and Future
Trends in Mechanical
Systems Design for
Robot Application
28.1 Introduction
28.2 Industrial Robots
Definition and Applications of Industrial Robots • Robot
Kinematic Design ... interconnected set of links and powered joints that support or move a wrist, a hand
or an end effector.
• Wrist: a set of joints between the arm and the hand that allows the hand to be oriented to
the...
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Tài liệu Modeling, Measurement and Control P29 doc
Ngày tải lên :
17/12/2013, 13:15
... use
28.3.3.2 Systems Design
Planning and design of service robot systems involves systematic design of mechatronic products
(Schraft and Hägele,
18
Kim and Koshla,
94
and Schraft et ... 28.27
Centralized and decentralized data storage and retrieval for car-type identification and robot
program selection. (From Leondes, C.T.,
Mechatronic Systems Techniques and Applications,
... guidance and control (absolute motion control)
• Sensorimotor primitives defined as encapsulations of perception and motion that form domain
general blocks for fast task strategies (reactive motion control)
The...
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Tài liệu Modeling, Measurement and Control P30 pptx
Ngày tải lên :
17/12/2013, 13:15
... currently undergoing redesign to meet cost and operation requirements.
FIGURE 28.32 Working principle of the docking sensor. (From Leondes, C.T., Mechatronic Systems Techniques
and Applications, Vol. ... refueled by a robot (left) and a
touch-screen terminal for inserting credit card, entering refilling order and printing (right). (From Leondes, C.T.,
Mechatronic Systems Techniques and Applications, Vol. ... Systems Techniques and
Applications,
Vol. 2, Gordon & Breach, Amsterdam, 2000. With permission.)
FIGURE 28.31 Event structure of the docking process. (From Leondes, C.T., Mechatronic Systems...
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Tài liệu Modeling, Measurement and Control P1 pptx
Ngày tải lên :
23/01/2014, 06:20
... System Design of Manufacturing
Systems • Software/Hardware Architecture and
Communications in Manufacturing Systems • Monitoring
and Control of Manufacturing Systems
1.6 Future Trends and Research ... operations and process
planning, control of the machines and monitoring of the processes (on/off line), automation,
networking and communication systems, and quality control of the production systems ... sections.
1.5.1 Product Design and Design for Manufacturability
At the product design stage, designers and product engineers generate new ideas and study various
aspects of design. Also, production...
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Tài liệu Modeling, Measurement and Control P3 pdf
Ngày tải lên :
23/01/2014, 06:20
... developing
an open interface standard for proprietary control systems.
19
This open standard allows integration
and communication between different systems; OSACA-compliant commercial systems are cur-
rently ... Event
Control of
Manufacturing Systems
3.1 Introduction
3.2 Background on the Logic Control Problems
Logic Control Definition • Control Modes • Logic
Control Specification • Tasks of a Logic Control ... repeatedly.
There are two distinct types of control systems in a typical automated manufacturing system:
continuous control and discrete event control. Continuous control systems regulate continuous
variables...
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Tài liệu Modeling, Measurement and Control P5 pptx
Ngày tải lên :
23/01/2014, 06:20
...
Mechanical Systems and Signal Processing
, 4, 333–347.
23. Houshmand, A. A. and Kannatey-Asibu, E., 1989, Statistical process control of acoustic emission
for cutting tool monitoring,
Mechanical ... L. K. and Pak, H. A., 1986, Model reference adaptive control of feed force in turning,
ASME Journal of Dynamic Systems, Measurement, and Control, 108, 1, 215–222.
49. Lauderbaugh, L. K. and Ulsoy, ... 238–244.
56. Mitchell, E. E. and Harrison, E., 1977, Design of a hardware observer for active machine tool
control, ASME Journal of Dynamic Systems, Measurement, and Control, 99, 227–232.
8596Ch05Frame...
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Tài liệu Modeling, Measurement and Control P6 ppt
Ngày tải lên :
23/01/2014, 06:20
... developments in the adaptive control of
machine tools, ASME Journal of Dynamic Systems, Measurement, and Control, 105, 107, 1983.
12. Landers, R. G. and Ulsoy A. G., Machining force control including static, ... Science and Engineering, 119, 273, 1997.
16. Smith, S. and Delio, T., Sensor-based chatter detection and avoidance by spindle speed selection,
ASME Journal of Dynamic Systems, Measurement, and Control, ... 1992.
17. Landers, R. G., Supervisory Machining Control: A Design Approach Plus Force Control and
Chatter Analysis Components, Ph.D. dissertation, Department of Mechanical Engineering and
Applied...
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Tài liệu Modeling, Measurement and Control P7 pptx
Ngày tải lên :
23/01/2014, 06:20
... servo control of machine variables
from fully controlling the process output. Such control does, however, greatly reduce the process
variability, and with good production control of material and ...
Forming Processes:
Monitoring and Control
7.1 Introduction: Process and Control Objectives
Process Control Issues • The Process: Material
Diagram • The Machine Control Diagram
7.2 The Plant ... higher accuracy and repeatability or by facilitating more
mechanically complex machines to enhance process flexibility and control degrees of freedom. In
all cases, the properties of control loops:...
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Tài liệu Modeling, Measurement and Control P8 doc
Ngày tải lên :
23/01/2014, 06:20
... Tomizuka, M., and Langari, G., 1982, Modeling and adaptive control of arc-welding
processes, Measurement and Control for Batch Manufacturing, Hardt, D. E., ed., 65–75.
Doumanidis, C., and Hardt, ... Overton, K., and Andrea, M. D., 1991, Real-time adaptive spot
welding control, Journal of Dynamic Systems, Measurement and Control.
Halmoy, E., 1979, Wire melting rate, droplet temperature, and effective ...
Monitoring • Control
8.3 Monitoring and Control of Arc Welding
Processes
Modeling for Arc Length Control • Weld Bead
Geometry Control • Weld Material Properties •
Monitoring of Arc Welding and Laser...
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