... equivalent control method SMO and
the modified Utkin SMO are designed and implemented. Some numerical simulations and
real experiments are provided.
Automation and Robotics
232
3. LQG/LTR ... (14)
Automation and Robotics
238
62 62.5 63 63.5 64 64.5 65 65.5 66 66.5 67
-10
-5
0
5
10
15
Time [sec]
Angle [deg]
Real (measured) arm angle
Estimated arm angle...
...
robot Sony ers- 210,
Proceedings of IEEE Conference on Robotics and Automation, pp.
2768-2774.
Chevallereau, C. & Aoustin, Y. (2001). Optimal reference trajectories for walking and
running ... notation for open and closed loop
robots,
Proceedings of IEEE Conference on Robotics and Automation, pp. 1174-1180.
Khalil, W. & Dombre, E. (2002). Modeling, identification...
... (5), the torques and forces of the actuators for a given
trajectory are computed, and thus produce the desired movement of the elastic parallel
manipulator.
Automation and Robotics
252 ... function of the tree structure and Q
t
is the function of the
dissipative energy. This Lagrange function consists of the kinetic and potential energy of the
Automation and Robo...
... plant configuration
The press and mixer machines are constructed mainly of mechanical and electrical parts and
devices, incorporating electrical boards, PLC units and other electronic equipment. ... co-energy
vector, ()∈ℜ
m
d
zt the derivative co-energy and ()
∈
ℜ
r
in
Dt and ()
∈
ℜ
r
out
Dt are a mixture
New Approaches in Automation and Robotics
292
12=−
e
VV, then...
... derived as equations (3) and (4), which
are 4 × 4 matrices.
⎥
⎥
⎥
⎥
⎦
⎤
⎢
⎢
⎢
⎢
⎣
⎡
Δ
Δ
=
100 0
0100
010
001
y
x
T
(3)
⎥
⎥
⎥
⎥
⎦
⎤
⎢
⎢
⎢
⎢
⎣
⎡
Δ
ΔΔ
Δ−Δ
=
100 0
100
00cossin
00sincos
θ
θθ
θθ
R ... Desktop\New Approaches in Automation and Robotics
384
0 PC}C)T{R(P
tc
=
−
+
−
(8)
The plus direction between the mathematical coordinate and vision can be reverse,...
...
analysis of properties and structure of optimal algorithm and for searching of optimal
switch point positions of control vector particularly.
448 Frontiers in Robotics, Automation and Control
analysis ... increases with increasing size and
complexity of the designed circuit. This optimal strategy and corresponding design’s
trajectory were obtained using special search proce...
...
Frontiers in Robotics, Automation and Control
76
The tests were carried out for 12 different grinding conditions, and subsequently the burn
degrees (no-burn, slight burn, medium burn, and severe ... *#?/*&* #02 *%#0 )$ 2/ #10) 3%3 /0 +%34% -)
Frontiers in Robotics, Automation and Control
82
Aguiar, P. R.; França, T. V. & Bianchi, E. C. (2006a). Roughness and...
... current particle is allotted a random value
between 0 and 1. A particle will carry out the disturbance sequence if its random value is
less than a disturbance rate
d
P . A disturbance particle ... all particles are outputted.
Fig. 2. The flowchart of the proposed algorithm
5. Simulations and Results
5.1 Description and Parameters Setting
Frontiers in Robotics, Automatio...