mechanical systems design handbook modeling measurement and control

... 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 al. 20 ) followed by designing ... LLC FIGURE 28.27 Centralized and decentralized data storage and. .. sensor data acquisition and modeling (From Leondes, C.T., Mechatronic Systems Techniques and Applications, Vol 2, Gordon ... 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)

Ngày tải lên: 17/12/2013, 13:15

... 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, ... system, Welding and Metal Fabrication,... arc-welding for control system design, ASME Journal for Dynamic Systems, Measurement and Control, 107, 40–46 Hu, S J., and Wu, S M., 1992, ... Dynamic Systems, Measurement and Control, 102, 62–68 Towey, M., and Andrews, D R., October 1968, Instantaneous resistance during spot welding formation as a parameter for an automatic control

Ngày tải lên: 23/01/2014, 06:20

... between the measurement graduations and the point of measurement is called the Abbe offset In general,... (From Dorf, R and Kusiak, A., Handbook of Design, Manufacturing, and Automation, ... between the measurement device and the point of measurement (Abbe error) They are also the errors that can... set-up (From Dorf, R and Kusiak, A., Handbook of Design, Manufacturing, and Automation, ... comparison of good and poor accuracy and repeatability. FIGURE 10.4 Slideway straightness relationships. (From Dorf, R. and Kusiak, A., Handbook of Design, Manu- facturing, and Automation

Ngày tải lên: 27/01/2014, 15:20

... structures: Theory and experiments, Journal of Intelligent Material Systems and Structures, 11, 2, 91–99, 2000 13 Geng, Z.J and Haynes, L.S., Six degrees-of-freedom active vibration control using ... reduced and the dynamic force approaches the sensitivity limit of the sensor On the other hand, Figures 11.19 (b), (d), and (f), on the right side have been obtained... design, manufacture, and ... and control of future space-based... C.H., and Chu, C.C., Active member control of a precision structure, Proceedings of the 30th AIAA/ASME/ASCE/AHS Structures, Structural Dynamics, and

Ngày tải lên: 27/01/2014, 15:20

... complete nonlinear model is available within the control design environment usually by means of co-simulation interface between vehicle modeling and control design packages. Multi-objective parameter ... D.L Margolis, and M Hubbard, An approach toward the optimal semi-active suspension, Journal of Dynamic Systems, Measurement and Control, 110, 288–296, 1988 18 H.E.Tseng and J.K Hedrick, ... damper control. The control law determines a com- manded damper force . It is transformed on the basis of actual damper velocity in the control unit into the specific commanded control current value

Ngày tải lên: 27/01/2014, 15:20

... studies on time delay systems available in the literature (Thowsen 1981a, 1981b and 1982; Zitek 1984), its usage for control advantage is rare and limited to stability- and robustness-related ... control of the primary structure and delayed feedback control of the CDR absorber The objective of the nominal velocity control is to track a desired overall profile... feedback gain and ... structural parameters and the angular velocity of the rotating base only, see Equations (14.59) and (14.60), the CDR control scheme is entirely decoupled from the mechanical and dynamic properties

Ngày tải lên: 27/01/2014, 15:20

... vibration control problem (Tsai and Wang, 1996), a random sequence was generated to compare the structure displacements and control efforts (voltages) of the uncontrolled, the active, and the active-passive ... Guidance, Control, and. .. structural damping and vibration control, Proceedings of SPIE, Smart Structures and Materials, 2720, 259–269 Zhou, K., Doyle, J C., and Glover, K., 1996, Robust and ... APPN design, showing that the optimal FIGURE 15.5 Comparisons of purely active and active-passive hybrid systems: performance and required voltage for vibration control. (From Tsai, M. S. and

Ngày tải lên: 27/01/2014, 15:20

... Dynamic Systems, Measurement, and Control, 122, 3, 445–453, 2000 6 J L Junkins and Y Kim, Introduction to Dynamics and Control of Flexible Structures,... 1994 13 S M Shahruz and L ... crane systems, and flexible cable systems More recently, Zhang et al.16 and Nagarkatti et al.17 designed boundary controllers for nonlinear string models and axially accelerating web systems, ... systems, ASME Journal of Dynamic Systems, Measurement, and Control, 106, 1, 6–14, 1984 9 M Balas, Active control of flexible systems, Journal of Optimization Theory and Applications,... Krstic,

Ngày tải lên: 27/01/2014, 15:20

... other words, by proper choice of materials and geometry, a grand challenge awaits the tensegrity designer: How to control the electrical, thermal, and mechanical energy in a material or structure? For ... the megascale. This is a grand design challenge, to develop scientific procedures to create smart tensegrity structures that can regulate the flow of thermal, mechanical, and electrical energy in ... pretension t0, the external force F, and the stiffnesses of the strings and bars In this case, the nodal displacement u is... units high and a units wide and yield strength σy such that M=

Ngày tải lên: 27/01/2014, 15:20

... turning, ASME Journal of Dynamic Systems, Measurement, and Control, 115, 122, 1993 40 Landers, R G and Ulsoy, A G., Supervisory machining control: Design approach and experiments, Annals... indicates ... Monitoring and Control 7.1 Introduction:... turning, ASME Journal of Dynamic Systems, Measurement, and Control, 108, 1, 215–222 49 Lauderbaugh, L K and Ulsoy, A G., 1988, Dynamic modeling for control ... Ulsoy, A G and Koren, Y., Control of machining processes, ASME Journal of Dynamic Systems, Measurement, and Control, 115, 301, 1993 42 Koren, Y., Computer Control of Manufacturing Systems, McGraw

Ngày tải lên: 21/06/2014, 21:20

... scale), (a) C 2 T 4 bending loads (left) and compressive loads (right), (b) C 4 T 2, and (c) 3-bar SVD axial loads (left) and lateral loads (right). FIGURE 17.5 Mass–spring ... we are able to actuate the pulleys and we wish to move the mass to the right, we can turn each pulley clockwise. The pretension can be large and yet very small control torques are needed to change ... shell class of tensegrity structures and examines several members of this class; Section 17.5 offers conclusions and future work. The appendices explain nonlinear and linear analysis of planar tensegrity.

Ngày tải lên: 21/06/2014, 21:20

... structures, Proceedings of International Mechanical Engineering Congress and Exposition, 3330, New York, 2001 20 C Sultan, Modeling, design, and control of tensegrity structures with applications, ... structure and control disciplines were ingredients in a multidisciplinary system design, but no interdisciplinary tools were developed to integrate the design of the structure and the control ... Corless,... biological design that govern the cytoskeleton, Journal of Cell Science, 104(3), 613–627, 1993 36 R.E Skelton, Dynamic Systems Control — Linear Systems Analysis and Synthesis, John

Ngày tải lên: 21/06/2014, 21:20

... for designing suitable robots for objective tasks and saving manpower, time, and costs required for design 21.2.1 Robot Manipulator Design Problem Designing a robot manipulator... between design ... 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 ... problems, increased reliability and improved thermal capacity are achieved. On the other hand, brushless motors require more complex and expensive control systems. Sensors and switching circuitry are

Ngày tải lên: 21/06/2014, 21:20

... a servo is in essence the standard synthesis of a servosystem for mechanical systems. However, robotic systems have some essential differences to other mechanical systems. For example, robots ... [...]... control. 12,38 Some methods integrate control mechanical system design. 39 This approach is based on micro–macro manipulator structures that provide inherently stable and well-suited subsystems ... specifying... inaccuracy in the robot and environment (e.g., for robust control design purposes), the problem becomes even more complicated For control design purposes, it is customary to

Ngày tải lên: 21/06/2014, 21:20

... model and using the nominal position and force measurements, and a controller involving a PD regulator and robust control part. The purpose of the robust controller is to ensure that the control ... (PD) position control law, and assuming that the force control consists of a proportional plus integral controller (PI) with gain and , respectively, and a force feed forward part, the control law ... robotic systems allows significant simplification of impedance control design and implementation. The robustness of internal position control allows the disturbances due to interaction force and joint

Ngày tải lên: 21/06/2014, 21:20

... Fuzzy Systems and Control: Design and Stability Analysis Prentice Hall, 1994 28 C.C Lee Fuzzy logic in control systems: Fuzzy logic controller IEEE Transactions on Systems, Man and Cybernetics, ... Selinsky Neurocontroller design via supervised and unsupervised leaning Journal of Intelligent and Robotic Systems, 2(2–3):307–335, 1989 2 A Homaifar, M Bikdash, and V Gopalan Design using ... sensors and are sent to both the teacher and the trainable controller. During control of the robot by the teacher, the control signals and the state variables of the robot are sampled and stored

Ngày tải lên: 21/06/2014, 21:20

... DOF mechanical arm equipped with a six-dimensional force-torque sensor at the base of the mechanical hand. The hand controller provides position and orientation control for the mechanical hand. ... the forces and torques acting at the mechanical hand while he controls the position and orientation of the mechanical hand. The overall schematic of the six DOF force-reflecting hand controller ... friction, and low effective inertia at the hand grip. More details of the mechanical design of the hand controller can be found in Bejczy and Salisbury. 2 The main functions of the hand controller

Ngày tải lên: 21/06/2014, 21:20

... = CoP and ZMP and CoP do not coincide. According to the adopted notation, the force and moment reduced at CoP are denoted as and respectively, while the reaction force and moment are and . Consider ... purpose of biped control. For these reasons the IZMP location has not gained more practical importance. However, the recent development of powerful control and sensory systems and the fast expansion ... of m subsystems: (2 m – n) subsystems correspond to the powered joints modeled as in Equation (27.47), and (n – m) composite subsystems modeled as in Equation (27.56) In fact, all the subsystems

Ngày tải lên: 21/06/2014, 21:20

... 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...

Ngày tải lên: 18/10/2013, 09:15

... 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...

Ngày tải lên: 25/10/2013, 13:15