modeling analysis and control

... 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

... 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 ... cheap, robust, and reliable, and at the same time offer good torque characteristics. However, control of such motors is rather complicated. Advanced vector controllers are expensive and do not guarantee ... we also mention high stiffness and efficiency (0.75 to 0.85). The main drawbacks are heaviness and high price. Toothed rack -and- pinion transmission allows R/T and T/R transformation of motion....

Ngày tải lên: 25/10/2013, 13:15

... 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 ... impedance control is an augmentation of position control. The actions of the manipulator control and hardware and the interaction between a robot and its environment are described by network analysis. ... 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...

Ngày tải lên: 29/10/2013, 20:15

... 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 ... . Detailed analysis of the influence of different fuzzy implication functions and union and intersection operators on control quality can be found in, e.g., Lee, 28 Mizumoto, 32 and Stachowicz and ... N.J. Mandi ˇ c, E.M. Scharf, and E.H. Mamdani. Practical application of a heuristic fuzzy rule-based controller to the dynamic control of a robot arm. IEEE Proceedings on Control Theory and Applications,...

Ngày tải lên: 29/10/2013, 20:15

... 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 ... issues from the standpoint of both linear and nonlinear control theories. We explain the difference between controllability in the linear system theory and controllability of mobile robots, having...

Ngày tải lên: 09/11/2013, 05:15

... Processes and Their Monitoring and Control 8.1 Assembly Processes 8.2 Monitoring and Control of Resistance Welding Process 8.3 Monitoring and Control of Arc Welding Processes References 9 Control ... Monitoring and Control 6.5 Other Process Phenomena 6.6 Future Direction and Efforts Acknowledgments References 7 Forming Processes: Monitoring and Control 7.1 Introduction: Process and Control ... Machine Control 7.4 Machine Control: Force or Displacement? 7.5 Process Resolution Issues: Limits to Process Control 7.6 Direct Shape Feedback and Control 7.7 Summary References 8 Assembly and...

Ngày tải lên: 17/12/2013, 13:15

... 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 ... high positioning accuracy for precise assembly, fast and vibration-free motion for short cycle times, and advanced control for path precision and controlled compliance. Figure 28.11 shows the principle ... simple and efficient design. The structure is stiff and allows excellent positioning accuracy and high speeds, but working volume is limited. If the number of independent robot axes (arm and wrist)...

Ngày tải lên: 17/12/2013, 13:15

... the analysis and observation of object motions and their immediate interactions as sensorimotor prim- itives. 2,13 Tasks are divided into: • Elementary motions without sensor guidance and control ... meals, pharmaceuticals, and documents along normal corridors. Clear and simple user interfaces, robust robot navigation, and ability to open doors and operate elevators by remote control make it a ... 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, ...

Ngày tải lên: 17/12/2013, 13:15

... 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. ... island is guaranteed at all times. Figure 28.33 depicts a refilling station in operation since September 1995 at Fraunhofer IPA. For more than 3 years, the robot has shown its reliability and ... 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. 2, Gordon...

Ngày tải lên: 17/12/2013, 13:15

... by substitution into the differential equation and, as expected, are found to be -2 and respectively. Then x(t) = -2 + + + + and the constants and are determined by the three initial conditions. The ... + The unknown function of time is x(t), and . . . , a a are constants. The given function is called In addition, for all problems of interest in control system analysis, the initial conditions are ... with the conclusion that -1-j 2 Comparison of Eqs. (3.8) and (3.11) and the result for B show that we have two possible ways to assign a and so that we match the form of Eq. (3.11). They are ...

Ngày tải lên: 22/12/2013, 21:18

... development and evaluation of algorithms for processes that cannot be controlled easily by control; some of the areas investigated are control, adaptive control, direct digital control, and batch control ... Control 34 Digital Computer Simulation of Control Systems 35 Microprocessor-Based Controllers and Distributed Control 517 543 Bibliography 559 Index 561 6 PROCESS SYSTEMS ANALYSIS AND CONTROL glance, it would ... chemical engineering laboratory, applied mathematics, and process dynamics and control. At Purdue, he developed a new course and laboratory in process control and col- laborated with Dr. Lowell B. Koppel...

Ngày tải lên: 22/12/2013, 21:18

Ngày tải lên: 01/01/2014, 18:38

... and structural vibration of the machine tool and wear, failure, and thermal deformations of the tool (Rangwala and Dornfeld, 1990; Li and Elbestawi, 1996). Currently, commercially available controllers ... sequence of 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 ... major epochs: (1) precomputer numerical control, (2) computer numerical control (CNC), and (3) knowledge epochs (Mehrabi and Ulsoy, 1997; Mehrabi, Ulsoy, and Koren, 1998). In the pre-CNC epochs...

Ngày tải lên: 23/01/2014, 06:20

... each control a region or subsystem of the machine, and these PLCs communicate and cooperate to control the entire machine. These distributed systems are easier to wire up, and can be designed and ... 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 ... Electrotechnical Commission (IEC), Programmable Controllers Programming Lan- guages, IEC Standard 1131, Part 3, 1993. 13. R. Kumar and V. K. Garg, Modeling and Control of Logical Discrete Event Systems,...

Ngày tải lên: 23/01/2014, 06:20

... Dynamic modeling for control of the milling process, ASME Journal of Engineering for Industry, 110, 4, 367–375. 50. Tomizuka, M. and Zhang, S., 1988, Modeling and conventional adaptive PI control ... G., and Wu, C. L., 1996, Feed, speed, and torque controllers for drilling, ASME Journal for Manufacturing Scientists and Engineers, 118, 2–9. 55. Nachtigal, C. L. and Cook, N. H., 1970, Active control ... T., Tlusty, J., and Smith, S., 1992, Use of audio signals for chatter detection and control, ASME Journal for Manufacturing Scientists and Engineers, 119, 146–157. 45. Schofield, S. and Wright, P.,...

Ngày tải lên: 23/01/2014, 06:20

... 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 ... supervisory control implementation in a through-hole drilling operation. TABLE 6.1 Comparison of Drilling Control Strategies 41 No Controller Feed/Speed Controller Torque/Speed Controller Supervisory Controller Machining ... 122, 1993. 40. Landers, R. G. and Ulsoy, A. G., Supervisory machining control: Design approach and experi- ments, Annals of the CIRP, 47, 301, 1998. 41. Ulsoy, A. G. and Koren, Y., Control of machining...

Ngày tải lên: 23/01/2014, 06:20

Ngày tải lên: 23/01/2014, 06:20

Ngày tải lên: 23/01/2014, 06:20

Ngày tải lên: 27/01/2014, 15:20

Ngày tải lên: 27/01/2014, 15:20