Robot control 1991 : selected papers from the 3rd by Inge Troch; SYROCO. <3, 1991, Wien>.; International

By Inge Troch; SYROCO. <3, 1991, Wien>.; International Federation of Automatic Control

This quantity comprises ninety two papers at the state of the art in robotics learn. during this quantity issues on modelling and identity are taken care of first as they construct the root for essentially all keep an eye on elements. Then, the main uncomplicated keep watch over projects are mentioned i.e. difficulties of inverse kinematics. teams of papers stick to which care for numerous complicated keep watch over features. they vary from relatively common the right way to extra really good issues resembling strength keep watch over and keep an eye on of hydraulic robots. the matter of course making plans is addressed and techniques for robots with one arm, for cellular robots and for a number of arm robots are offered. additionally lined are computational advancements and software program instruments for simulation and keep an eye on, the mixing of sensors and sensor indications in robotic regulate.

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Dptp r m i ned by All thP minimum parametprs will be The i-th joint variable q , is given as q , = p , e , + ( l- p , ) d , u s i n g of rPc u rs i v P for m u lati o n s . where 33 (3) ---[ 1 dynamics parameters. (if joint i is rotational) (4) O (if joint i is translational) Then, the Newton-Euler Formulation [ 1 3 ] is shown in Eqs. ( 5 ) - ( 1 1 ) , by which we can compute the inverse dynamics based on two sets of recursions: the forward (5)-(8) and backward (9)-( 1 1 ) recursions. P 1 = w I = I R1- 1 UJ l - 1 + p [ z 0 q_ I Definition identified by q H q 3 ,'q 3 ( l ::; j ::; n) , and parameter is T , -unidentifiable.

S e v e n r o b o t c o n f i g u r a t i on s w i t h rat ios µ=r 1 / r z of 0 . 4 , 0 . 6 , 0 . 8 , 1 , 1 . 2 , 1 . 4 and 1 . 6 , r e s pe c t i ve l y . E x c i t a t i on o f t h e k i n e ma t i c s y s t e m in the ope r a t i o n a l space w i t h a nume r i c a l r a n d om s a m p l e o b e y i ng p . d . f . ' s ( 4 ) - ( 6 ) f o r t h e n i n e d i s t i n c t c a t e g o r i e s o f T ab l e 1 . • A na l y s i s o f t h e h i s t o g r a m s o f t h e o u t p u t va r i a b l e s . I n o r d e r t o s i mp l i f y ma t t e r s , o n l y m a r g i na l p .

46), it is shown that I n. z z is identifiable by the accelerate mo­ tions of joint n and the other elements of I n are T n ­ unidentifiable parameters having no effect on T n • Since the (41) by the accelerate motions of joint j on the conditions of q n = q n = 0. mn Ti n = Ti n * + J n W n + W n X ( J n W n ) + M S n X V n (42) Taking account of the recursive kinematic equations, we can obtain Eq. ( 3 1 ) and: (43) n n - 1 = N n - [ J n - 1 , M S n - 1 , f n * , n n * ]+w n - , where n 1 - R n { M S n X Z o q n +( J ' n - J ' n , , .

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