Modeling, Measurement and Control P18
Modeling, Measurement and Control P18
... integration of structure and control design appears in Skelton 1,2 and Grigoriadis et al. 3 Bendsoe and others 4-7 optimize structures by beginning with a solid brick and deleting finite elements ... axially loaded compression members and tendon members that easily allow the unification of structure and control functions. Sensing and actuating functions can sense or control the tension or the length ... m} and {ρρ ρρ 11 , t 1ij , for i = 1, 2, …, n, j = 1, 2, …, m, and i < n when j = 1}. This section discusses the relationship between the q variables and the string and rod vectors t αβγ and...
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Modeling, Measurement and Control P21
... increasingthe price) and introduces backlash (leading to lower accuracy when positioning some object),friction (energy loss due to friction and problems in controlling the system with friction), and elastic ... we also mention high stiffness and efficiency (0.75 to 0.85). The main drawbacksare heaviness and high price. Toothed rack -and- pinion transmission allows R/T and T/R transformation of motion. ... Rack -and- pinion transmission is precise and inexpensive. Recirculating ball nut and screw represent a very efficient R/T transmission. It also providesvery high precision (zero backlash and...
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Modeling, Measurement and Control P23
... the command and control of a vector such as position or force is not enough to control the interaction betweensystems (dynamic networks). The controller must also be able to command and control ... Sugie, T., and Tanaka, M., Dynamic hybrid position/force control of robot manipulators:controller design and experiment, IEEE J. Robotics and Automation, 4(6), 1988.12. Anderson, R. and Spong, ... ModesAdditional control functions and commands are required to manage dynamic communicationbetween the basic position control system and the impedance control module. This section describesimpedance control...
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Modeling, Measurement and Control P24
... consequent is a control action. Thus, the rule base can be represented as:R1: if X1 is A11 and … and Xn is A1n, then Y1 = B11 and … and Ym = B1mR2: if X1 is A21 and … and Xn ... self-organizing controller, was described by Procyk and Mamdani.3724.4.3.4 Inference MechanismConsider the rule base:R1:if X1 is A11 and and Xn is A1n, then Y = B1R2:if X1 is A21 and and ... conventional controllers is often employed in synthesis and adjustments of fuzzy control. The first application of fuzzy control to robotic manipulators was described by Mandiˇc, Scharf, and Mamdani.31...
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Modeling, Measurement and Control P26
... The control station consists of a TV monitor, and a control panel withjoysticks and pushbutton commands. Bi-directional radio links allow simultaneous transmission of1. Commands from the control ... desired (commanded) one. In this case, the above equation becomes (26.34)where uR and uL are left- and right-wheel control inputs. From (Equations 26.22 and 26.23) weobtain: (26.35) and (26.36)FIGURE ... issues from the standpoint of both linear and nonlinear control theories. We explain the difference between controllability in the linear system theory and controllability of mobile robots, having...
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Tài liệu Modeling, Measurement and Control P31 doc
... Processes and Their Monitoring and Control 8.1 Assembly Processes8.2 Monitoring and Control of Resistance Welding Process8.3 Monitoring and Control of Arc Welding ProcessesReferences 9 Control ... Monitoring and Control 6.5 Other Process Phenomena6.6 Future Direction and EffortsAcknowledgments References 7 Forming Processes: Monitoring and Control 7.1 Introduction: Process and Control ... TexasMECHANICALSYSTEMSDESIGNHANDBOOKTHE Modeling, Measurement, and Control This book contains information obtained from authentic and highly regarded sources. Reprinted material is quoted withpermission, and sources...
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Tài liệu Modeling, Measurement and Control P28 docx
... interconnected set of links and powered joints that support or move a wrist, a handor an end effector.• Wrist: a set of joints between the arm and the hand that allows the hand to be oriented tothe ... high positioning accuracy for precise assembly, fast and vibration-free motion for short cycletimes, and advanced control for path precision and controlled compliance. Figure 28.11 shows theprinciple ... requirements and cost and timeconstraints. Suppliers can be selected on the basis of price and on their ability to offer integratedservices during workcell planning, implementation, and operation....
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Tài liệu Modeling, Measurement and Control P29 doc
... guidance and control (absolute motion control) • Sensorimotor primitives defined as encapsulations of perception and motion that form domaingeneral blocks for fast task strategies (reactive motion control) The ... meals, pharmaceuticals, and documents along normal corridors.Clear and simple user interfaces, robust robot navigation, and ability to open doors and operateelevators by remote control make it a ... 28.27 Centralized and decentralized data storage and retrieval for car-type identification and robotprogram selection. (From Leondes, C.T., Mechatronic Systems Techniques and Applications,...
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Tài liệu Modeling, Measurement and Control P30 pptx
... refueled by a robot (left) and atouch-screen terminal for inserting credit card, entering refilling order and printing (right). (From Leondes, C.T.,Mechatronic Systems Techniques and Applications, Vol. ... station, the robot moves into the initial position. It emerges from theopening in the refueling island and approaches the filler flap. The robot remains flexible whendocked on, in other words, it can ... islandis guaranteed at all times. Figure 28.33 depicts a refilling station in operation since September 1995at Fraunhofer IPA.For more than 3 years, the robot has shown its reliability and...
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Tài liệu Modeling, Measurement and Control P1 pptx
... sequence of operations and processplanning, control of the machines and monitoring of the processes (on/off line), automation,networking and communication systems, and quality control of the production ... costs and lead times in allengineering design stages, improved quality and accuracy, minimization of errors and their dupli-cation, more efficient analysis tool, and accurate control and monitoring ... manage, and control the operations of a manufacturingsystem: computer-aided manufacturing (CAM) (Bedworth, Handerson, and Wolfe, 1991). In CAM,computers are either used directly to control and...
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