Robot Manipulators 2011 Part 2 doc

... and (16) iteratively to obtain expressions equivalent to (24 ) and (25 ): 01 1 12 01 2 1 01 2 12 1 12 1 01 3 2 01 3 010*0 12 2 1 12 2 1 21 1 () () ( ) ( ) ()() . n n nn n nn n nn n nn n q pq p ppp ξξξ ... of ()pq and ()Rq 0 11 12 () n n R qRR R − = " (24 ) 0 121 01 32 210 12 1 12 2 1 121 () nn n n nn nn pq R R R R R R … R pppp −− − − −− − =+ +++"&q...

Ngày tải lên: 12/08/2014, 00:20

... candidate (Kelly & Campa, 20 05), (Sanz & Etxebarria, 20 07) 22 2 2 2 2 1 03 0 12 11 1 3 2 0 22 13 2 2 1 2 2 101 101 21 1 121 ((0)) (,) 22 2( (0)) 1 () (0) 2 T tt t dd t Iqa Iqqa qa I a ... general solution is 22 2 2 13 2 1 001 2 21 21 ( (0) ) () 2( (0) ) ( (0) ) tt d Ia a I UqqqFz aa aa ωϕ ω ϕϕ ′ − =− − + ′′ −+ −+  (35) 01 zqq γ =+  (36)...

Ngày tải lên: 12/08/2014, 00:20

... 0.0 92 FV3 (Nm/rd.s -1 ) 2. 461 2. 463 2. 486 2. 480 FS3 (Nm) 5.678 5.674 5.587 5.643 Ia4 (Kgm²) 0. 028 0. 028 0. 029 0. 028 FV4 (Nm/rd.s -1 ) 1.173 1.174 1.175 1.173 FS4 (Nm) 2. 164 2. 133 2. 127 2. 127 ... with 2 Value with Δ3 Value with Δ4 ZZ1R (Kgm²) 1 .20 0 1.141 0.850 0.406 FV1 (Nm/rd.s -1 ) 8. 120 8 .20 2 8.175 8.168 FS1 (Nm) 5. 620 5. 421 5.399 5.319 MX2R (Kgm)...

Ngày tải lên: 12/08/2014, 00:20

... 59, No. 9, 20 04, pp. 20 -24 , ISSN:03 72- 04 62 SMErobot (20 05). European Union Sixth Framework Program (FP6) proposal number 011838, http://www.smerobot.org/, 20 05 -20 09. Smith, S. (20 02) . Digital ... Conference on Intelligent Robots and Systems (IROS 20 07), ISBN 978-1- 424 4-09 12- 9, Oct. 20 07. Ozaki, F. & Hashimoto, H. (20 04). Open Robot Controller Architecture (...

Ngày tải lên: 12/08/2014, 00:20

... 2, 1 1 ,2 1 ]][[),(    nrcn AHHjiA 2, 1 1 ,2 11 ]][[),(    nrcn AGHjiD 2, 1 1 ,2 12 ]][[),(    nrcn AHGjiD 2, 1 1 ,2 13 ]][[),(    nrcn AGGjiD (7) where (i,j) Є R 2 , ... financial support from the Academy of Finland (project numbers: 123 579, 1.1 .20 08-31. 12 .20 11, and 126 873, 1.1 .20 09-31. 12 .20 11) . 9. References Cerutti, S., Bersani,...

Ngày tải lên: 21/06/2014, 19:20

... 1 1 2 0.0800 - 0. 027 1 0.0 927 0.0670 -0.0046 0.0307 - * 0.0143 0. 029 5 0. 027 3 0.3787 -0.0 729 0.0686 G W W                1.0094 1 .26 10 0.80 62 2. 1595 Determinant (G) = 2. 2588 ... 1 1 2 0.0800 - 0. 027 1 0.0 927 0.0670 -0.0046 0.0307 - * 0.0143 0. 029 5 0. 027 3 0.3787 -0.0 729 0.0686 G W W                1.0094 1 .26 10 0.80 62 2. 15...

Ngày tải lên: 21/06/2014, 19:20

... 10 .20 5.44 5.34 20 .00 9.08 16.08 8.76 8.90 30.00 12. 76 20 .58 12. 20 12. 28 40.00 15.90 25 .48 15.06 14.76 50.00 18.30 31 .22 17.98 17.80 60.00 21 .64 34.76 20 . 62 20 .28 70.00 23 . 92 37.74 22 .56 23 .08 ... 10 .20 5.44 5.34 20 .00 9.08 16.08 8.76 8.90 30.00 12. 76 20 .58 12. 20 12. 28 40.00 15.90 25 .48 15.06 14.76 50.00 18.30 31 .22 17.98 17.80 60.00 21 .64 34.76 20 ....

Ngày tải lên: 21/06/2014, 23:20

Ngày tải lên: 08/08/2014, 19:20