...
18 . Characteristics of Mechanical Noise
during Motion Control Applications
3 51
Mehmet Emin Yüksekkaya, Ph.D.
19 . Hybrid Magnetic Suspension Actuator for Precision Motion Control ...
and Its Precision Motion Control
375
Yonmook Park
21. FPGA-Realization of a Motion Control IC for X-Y Table 395
Ying-Shieh Kung and Ting-Yu Tai
Motion...
... speed
1
v is given, the
vehicle center speed can be get
11 1 1
1
(cos sin )
1. 5
P
RB
Vv v
RL
ϕ
ϕ
== + . Consequently, the
kinematical function of vehicle motion can be depicted as
11 1
11 1
11
cos ... diagonal steering, and center steering, are given in (19 ), (20)
and ( 21) , respectively as follows.
5ww 1 5
412
313
212
11 5 5 1
44 12
33 13
22 12
,cot05...
... Representation
11
10 10 10
30 11 110
59 11 1 011
Note:
We are not using the word "continuous"
here in the sense of continuously
differentiable, as is common in math
texts.
Pa
g
e 22 of 20 9Control ... cost.
Adaptive Control
In adaptive control, the control changes it's response characteristics over time to better control the system.
N
onlinear Control...
... under no. 12 010 10 01
Robotics, Automation and Control, Edited by Pavla Pecherková, Miroslav Flídr and Jindřich Duník
p. cm.
ISBN 978-953-7 619 -18 -3
1. Robotics, Automation and Control, Pavla ... mentioned design steps (Lino et al., 2008):
(
)
(
)
(
)
(
)
−−−
−=−
11 2
10 1
1 az y t bz bz u t
(13 )
Robotics, Automation and Control
8
For short pipes, the
Compres...
... Conference on, pp. 16 71 16 77. doi:
10 .11 09/ROBIO .2009. 4 913 252.
Choset, H., Lynch, K., Hutchinson, S., Kantor, G., Burgard, W., Kavraki, L. & Thrun, S.
(2005). Principles of Robot Motion: Theory, ... Robotics and Vision, vol. 1,
pp. 13 6 14 0
Latombe, J. C. (19 91) . Robot motion planning, Norwell, MA: Kluwer Murray, R. M. & Sastry,
S. S. (19 93). Nonholonomic moti...
... ]
.
2
,,
,
4
,
4
,
)(2
,
)(2
,
)(2)(2
,
)(24
.0, 01
,,
10
,,
,,where
2 21
'
11 20
'
00
'
1
'
010
22
1
2
2
0
2
011 011
11
10
11 22
N
c
ccacccacc
VMI
llcc
c
MI
lcc
c
VMI
lclc
b
MI
cc
b
VMI
ccIlclcM
a
I
lclc
VMI
lcc
a
cDC
ccabba
cb
B
aa
A
Nuay
cNbcacax
f
y
rrf
y
rf
y
rrff
y
rf
y
rfylrff
y
rrff
y
rf
tt
tt
yt
T
yyt
=−=−=
==
−
−=
+
=
+++
=
−
−=
==
⎥
⎦
⎤
⎢
⎣
⎡
++
=...
... relative
position of the vehicle and target. PID -control with limitations for the value of control
responses is described:
0 0
11
12 3 12 3
22
11 max
,,
cos sin , sin cos ,
()
tt
xz
tt
xx z z ... zzz
III
λ
λ
=+ =+
(1)
where
λ
11
,
λ
22
,
λ
33
,
λ
55
,
λ
66
– added masses and liquid inertia moment, T
x1
, T
y1
, T
z1
, M
y
ctrl
,
M
z
ctrl
– projection of control...
... Experiment for Attitude Control of A Tethered Body by Arm Link Motion
269
∫
= dt
ii
ωθ
, ( i = 0, 1 ). (2)
Also, assuming
θ
1
,
θ
2
,
φ
1
,
φ
2
<< 1,
[
]
T
01
1
φφ
−=− l
r
pp
. ... equation (1) can be
rewritten as:
[
]
T
10
0
φφ
ln
rr
−×−= pnτ
. (4)
Employing the following control equation of arm link motion:
⎥
⎦
⎤
⎢
⎣
⎡
+
⎥
⎦
⎤
⎢
⎣
⎡
=
⎥
⎦...