Mechanical Systems Design Handbook P19 pot

... multibody mechanisms, IEEE Trans. Systems, Man, Cybernetics, 7, 868, 1977. 34. Lin, S. K., Singularity of a nonlinear feedback control scheme for robots, IEEE Trans. Systems, Man, Cybernetics, 19, ... and Roth, B., Inverse kinematics of the general 6R manipulator and related linkages, ASME J. Mechanical Design, 115, 502, 1990. 47. Renaud, M., Calcul de la matrice jacobienne necessaire à...

Ngày tải lên: 02/07/2014, 12:20

... essence the standard synthesis of a servosystem for mechanical systems. However, robotic systems have some essential differences to other mechanical systems. For example, robots have variable moments ... The i-th actuator is driving the mechanical part of the robot (kinematic chain) around the i-th joint. In the given fixed positions of the joints , j > i, the mechanical part of...

Ngày tải lên: 02/07/2014, 12:20

... introduction of bilateral force-reflecting master–slave manipulator systems. In these very successful systems, the slave arm at the remote site is mechanically or electrically coupled to the geometrically ... end effector. The fourth category deals with the potential for accidental switch activation for a given design. The lower the rating, the more potential exists for accidental activatio...

Ngày tải lên: 02/07/2014, 12:20

... essence the standard synthesis of a servosystem for mechanical systems. However, robotic systems have some essential differences to other mechanical systems. For example, robots have variable moments ... methods integrate control mechanical system design. 39 This approach is based on micro–macro manipulator structures that provide inherently stable and well-suited subsystems for...

Ngày tải lên: 21/06/2014, 21:20