Có 29+ tài liệu thuộc chủ đề "chuẩn đoán hệ thống"
tailieu.vn Xem trực tuyến Tải xuống
20.1 Fundamentals of Robot Dynamic Modeling. 20.2 Recursive Formulation of Robot Dynamics. 20.3 Complete Model of Robot Dynamics. 20.4 Some Applications of Computer-Aided Dynamics. 20.1.1 Basic Ideas. FIGURE 20.1 Robot as a simple and open chain.. Figure 20.2 shows one link of the robot chain, the j -th one. (20.2) The tilde. FIGURE 20.2 Geometry of a link.. that (20.7)...
tailieu.vn Xem trực tuyến Tải xuống
21.1 Robot Driving Systems. 21.2 Computer-Aided Design. Section 21.2 gives the principles of advanced design. 1,2 Such a model of the complete dynamics is derived in Sections 21.3.1 and 21.3.2.. 21.1.1 Present State and Prospects. 21.1.2 DC Motors: Principles and Mathematics. Figure 21.1 shows two rotor shapes, cylindrical and disc. FIGURE 21.1 Different rotor shapes enable different overall shape of...
tailieu.vn Xem trực tuyến Tải xuống
22.3 Control of a Single Joint of the Robot. To accomplish various tasks, the hand of the robot (or the payload, or the tool) has to be placed in the desired locations at the workplace and take the desired orientation (and, sometimes, to produce certain desired forces upon the other objects in the workspace). In this case, the operator of...
tailieu.vn Xem trực tuyến Tải xuống
23.1 Introduction 23.2 Contact Tasks. 23.3 Classification of Robotized Concepts for Constrained Motion Control. 23.6 Active Compliant Motion Control Methods. 23.7 Contact Stability and Transition. 23.9 Conclusion. 23.1 Introduction. 23.2 Contact Tasks. FIGURE 23.1 Basic classification of robot compliance.. FIGURE 23.2 Passive compliance classification.. 23.4 Model of Robot Performing Contact Tasks. (23.2) where is the output angle of the motor...
tailieu.vn Xem trực tuyến Tải xuống
is not very crucial to the effectiveness of the network. One of the earliest sensory connectionist methods capable of serving as an alternative to the well-known backpropagation algorithm is the CMAC (cerebellar model arithmetic computer) 20 (Figure 24.2). CMAC is an associative neural network using the feature that only a small part of the network influences any instantaneous output. In...
tailieu.vn Xem trực tuyến Tải xuống
25.1 Introduction 25.2 Hand Controllers. 25.1 Introduction. Thus, teleoperators or the activities of teleoperation extend the manipulative capabilities of the human arm and hand to remote, physically hostile, or dangerous environments. In these very successful systems, the slave arm at the remote site is mechanically or electrically coupled to the geometrically identical or similar master arm handled by the operator...
tailieu.vn Xem trực tuyến Tải xuống
26.1 Introduction 26.2 Fundamental Issues. 26.3 Dynamics of Mobile Robots 26.4 Control of Mobile Robots. 26.1 Introduction. In Section 26.2 of this chapter, fundamental issues are explained regarding nonholonomic systems and how they differ from holonomic ones. Section 26.3 covers dynamics of mobile robots. 26.2 Fundamental Issues. 26.2.1 Definition of a Mobile Robot. where φ defines the orientation of the...
tailieu.vn Xem trực tuyến Tải xuống
27.3 Control Synthesis for Biped Gait. 27.6 Conclusion. 27.1.1 Introduction. 27.1.2 The ZMP Notion. FIGURE 27.1 Single-support phase.. Substituting Equation (27.4) in Equation (27.6) yields:. 27.1.3 The Difference between ZMP and the Center of Pressure (CoP) One can see from the above analysis that ZMP is apparently equivalent to the center of pressure (CoP), representing the application point of the...
tailieu.vn Xem trực tuyến Tải xuống
28.1 Introduction 28.2 Industrial Robots. 28.3 Service Robots. 28.1 Introduction. In 1999 some 940,000 industrial robots were at work and major industrial countries reported growth rates in robot installation of more than 20% compared to the previous year (see Figure 28.1) The automotive, electric, and electronic industries have been the largest robot users. Robotics integrates the states of the art...