robot s kinematics dynamics and control

... cos  sin  sin   cos sin  cos  cos   sin  sin  sin  cos  sin  P   Px  r13  r23   r33   sin  sin   cos  cos  sin   cos  sin  sin   cos  sin     cos  cos  ... robots with different structures Harib and Srinivasan (2003) performed kinematic and dynamic analysis of SP based machine structures with inverse and forward kinematics, singularity, inverse and ... fundamental issues that have emerged in serial and especially parallel robotics manipulators are kinematics & dynamics modeling, optimization, control algorithms and design strategies In this new book,...

Ngày tải lên: 27/06/2014, 00:20

Ngày tải lên: 24/04/2014, 16:00

... analysis - sensitivity analysis - solve / transform / simulate - justification of assumptions - adjustment of detail Fig 1.2 Modeling steps 1.3.1 System Analysis During system analysis, the goals ... of processes of any kind John E Rijnsdorp Emeritus Professor of Process Dynamics and Control University of Twente The Netherlands [xi] PREFACE Process dynamics and control is an inter-disciplinary ... phases: system analysis, model design and model analysis These phases can be further subdivided into smaller steps By using the example of a thermometer, these steps will be clarified Problems...

Ngày tải lên: 01/04/2014, 11:10

Ngày tải lên: 01/04/2014, 11:10

... cooperative system is elastic This means that a cooperative system must be elastic An elastic cooperative system can be considered as composed of • elastic components (manipulators and object), • elastic ... coordinates Contact forces arise as a consequence of the instantaneous state of the mobile elastic system, i.e of the instantaneous state of the absolute coordinates of the elastic system, which is also ... easier and more correct description of its (quasi)statics and dynamics • In modeling an elastic system, it is necessary to first solve the static conditions on the basis of the minimum of potential...

Ngày tải lên: 10/08/2014, 05:20

... inputs is 6m, whereas the number of state quantities (positions and velocities) is 2·(6m+6) The possible choices of state quantities are the internal coordinates vector q ∈ R 6m×1 and position ... takes place (i.e yij = 0) and, to this new position of elastic system nodes (henceforth, loaded state) let correspond the coordinates Y Let this displacement be kept constant It is necessary ... constant vector a means the translation of the coordinates of this subsystem Mathematical Models of Cooperative Systems 95 Figure 17 Rotation of the loaded elastic system Let the loaded state...

Ngày tải lên: 10/08/2014, 05:20

... form ⎡ ⎤ yv s Fev uv us u0 ⎣ s ys ⎦ = Fec = s Fes Av As A0 y0 = uv us0 Av As0 yv ys0 s s = Aus0 ys0 + Auv yv , s s s s s s Fe0 = cs ys + c0 y0 + cv yv = cs0 ys0 + cv yv , (223) where Aus0 = ([Aij ... desired value Fes Such a description of the gripping phase is consistent because it establishes a full correspondence between the elastic forces, elastic system s nodes displacement, and stresses ... calculating ys as a function of Fes , from the last equation we can to express s s s the node displacements yv and ys and forces at the leader s node Fev as a function s s s of the displacement y0 and...

Ngày tải lên: 10/08/2014, 05:20

... ys ) + DAvs yc + Avs yc − Gs ) − Dcv cyc , ˙ ˙ ˙ ys ¨ = Ws (ys )−1 Fss − Ws (ys )−1 (Fbs (ys , ys ) + DAvs yc + Avs yc − Gs ), ˙ ˙ −1 Fv = −Wv (yv )Dcv Dcs Ws−1 (ys )Fss −1 + Wv (yv )Dcv Dcs ... −1 s = (As − A0 c0 cs )−1 Fes −1 −1 s −(As − A0 c0 cs )−1 (Av − A0 c0 cv )yv −1 −1 s s s s s −(As − A0 c0 cs )−1 A0 c0 Fe0 = ys (Fes , yv , Fe0 ), −1 −1 −1 s s s y0 = −c0 cs (As − A0 c0 cs )−1 ... given the s s leader s displacement yv , and the state of the followers’ displacements ys Under these conditions, the forces acting at contact points −1 −1 −1 s s s s Fev = (us − u0 c0 cs )ys + (uv...

Ngày tải lên: 10/08/2014, 05:20

... grip- Synthesis of Nominals 169 s ping Fe0 is determined from (224) and (225) as a function of the displacements, s s yv , and prescribed forces Fec = Gc + Fcs as independent variables Step This step ... manipulated object in all phases of the gripping process ˙ ¨ The state of the absolute coordinates Y s , their derivatives Y s and Y s and forces s s at the elastic system nodes Fc and F0 attained at the ... integration step by which the closed control system is simulated In this example, the integration step is 0.0005 (s) Steps 4, 5, 6, and Masses of elastic interconnections are neglected, so that all...

Ngày tải lên: 10/08/2014, 05:20

... loops is a ‘controlled’ cooperative system Control laws for a cooperative system are selected on the basis of the model of its dynamics and they will have sense only if the model describes sufficiently ... equations and controlled outputs As these relationships are of the same form for both linear and 198 Multi-Arm Cooperating Robots non-linear systems, and no special properties of linear systems have ... synthesis of the control system In other words, it is necessary to improve first the system characteristics and, on the improved system, impose the requirements for the controlled output quantities...

Ngày tải lên: 10/08/2014, 05:20

... , qs , qs ), 220 Multi-Arm Cooperating Robots s ˙ = Ns (qs )(qs (t) − Qs ( s , s )) + ns (q, q, Y0 , Y0 ) ¨0 ˙ ˙ ˙ ˙ = s (Y0 , Y0 , q, q, qs − Qs ( s , s )) = s (Y0 , Y0 , q, q, qs , qs , ... qs , qs ), ˙ ˙0 ¨0 Fcs ˙ = Ps (qs )(qs (t) − Qs ( s , s )) + ps (q, q, Y0 , Y0 ) ¨0 ˙ ˙ ˙ ˙ ¨0 ˙ = Fcs (Y0 , Y0 , q, q, qs − Qs ( s , s )) ˙ ˙ ˙0 ¨0 = Fcs (Y0 , Y0 , q, q, qs , qs , qs ) (317) ... Cooperative System Control elasticity properties are preserved irrespective of the character and origin of the forces acting at the elastic structure nodes Hence, if certain masses exist at the nodes and...

Ngày tải lên: 10/08/2014, 05:20

... which is mathematically described by the expression s (t) = S( s (t)) ˙ ˙0 ˙ Fcs (t) = Fcs (t) − S( s (t)), ⇒ (338) whose integration gives the values of contact forces Fcs (t) that should be ... Equations (353) as a function of the system parameters and character of the drives, are subject to the theory of oscillations and dynamics of constructions [6, 7, 23] in the frame of the analysis of ... can assume any state, including the resonant one 6.5 Examples of Selected Control Laws The synthesis of the control laws for the phase of gripping and general motion of the cooperative system...

Ngày tải lên: 10/08/2014, 05:20

... quantities exceeded the number of state quantities needed and was sufficient for a description of the elastic system s dynamics This problem does not appear when the elastic system s dynamics is described ... real ‘fast’ dynamics of the cooperative system, leaving the possibility to control its ‘slow’ dynamics This means that for the purpose of the synthesis of cooperative system control, it is useful ... uncertainty resolved, serves as the basis for the synthesis of cooperative system control laws First, it is necessary to analyze the number and nature of the requirements from the cooperative system and...

Ngày tải lên: 10/08/2014, 05:20

... prevention systems, especially for sport utility vehicles (SUVs) and trucks Some systems such as Freightliner 's Roll Stability Advisor and Volvo 's Roll Stability Control systems utilize sensors on ... Analysis and Optimization 1: Linear Systems K.K Choi and N.H Kim, Structural Sensitivity Analysis and Optimization 2: Nonlinear Systems and Applications G Chryssolouris, Laser Machining: Theory and ... steering assist is steadily reduced over a period of several seconds So, a road departure crash is still possible, but is expected be less likely unless the driver is seriously incapacitated LDA is accomplished...

Ngày tải lên: 13/10/2014, 22:09

... progresses from conceptual designs to selection analysis tools and from there engineering analysis is performed Drawings are then generated and various prototypes are created and successfully tested ... into the software, in both SI and USC (English) units Thus, all parameters will automatically be shown when the user selects a flying species or wing type Lastly, pop-up messages boxes as shown ... Acknowledgements The author wishes to express sincere appreciation of the assistance and suggestions given by the Supervisor, Assoc Prof Lim Kah Bin The author would also like to thank research engineer Miss...

Ngày tải lên: 04/10/2015, 17:06