نتایج جستجو برای: independent joint control
تعداد نتایج: 1879802 فیلتر نتایج به سال:
this paper presents optimal control method to path planning of mobile robots with flexible joints. dynamic equations are derived and additional kinematic constraints are used to solve the extra dofs arose from base mobility. then with modeling the elasticity at each joint as a linear torsinal spring, the set of equations are formed. the hamiltonian function is formed and the necessary condition...
this paper presents the results of the assembly process of a gasketed bolted flanged pipe joint for two different bolt tightening strategies, i.e. asme and industrial using torque control of preload method. the final clamping force is achieved in four and five passes in asme and industrial strategy respectively. axial bolt stress variation, at the end of each pass, individual bolt bending beha...
in industrial robotic manipulator, due to the presence of quite nonlinear dynamic and structural and nonstructural uncertainties, a precise model is not easily obtained. as a result, designing a controller with a suitable function based on system model is a challenging issue. sliding mode control is a robust control with numerous applications which can overcome the aforementioned uncertainties....
joint flexibility is a very important factor to consider in the controller design for robot manipulators if high performance is expected. most of the research works on control of flexible-joint robots in literature have ignored the actuator dynamics to avoid complexity in controller design. the problem of designing nonlinear controller for a class of single-link flexible-joint robot manipulator...
BACKGROUND Amyotrophic lateral sclerosis (ALS) is a neurodegenerative disease of motor neurons that results in progressive weakness and death from respiratory failure, commonly within about 3 years. Previous studies have shown association of a locus on chromosome 9p with ALS and linkage with ALS-frontotemporal dementia. We aimed to test whether this genomic region is also associated with ALS in...
♣ Let X and Y be two discrete r.v.'s and let R be the corresponding space of X and Y. The joint p.d.f. of X = x and Y = y, denoted by f (x, y) = P (X = x, Y = y), has the following properties: (a) 0 ≤ f (x, y) ≤ 1, f (x, y) ≥ 0 for − ∞ < x, y < ∞. ∞ −∞ ∞ −∞ f (x, y)dxdy = 1. y f (x, y) (∞ −∞ f (x, y)dy), x ∈ R x. ♣ The marginal p.d.f. of Y is defined as f Y (y) = x f (x, y) (∞ −∞ f (x, y)dx), y...
background : joint proprioception plays an important role in limb movement and awareness of position sense. diabetes has a lot of complications such as lossof sensoryfunction, which canleadtoimpaired balance, thus the aim of this study to evaluated joint proprioception and balance in diabetic patients. methods: twenty type ii diabetic patients and20healthy controls participated in this case-con...
The dynamic model of a robot manipulator is described by a set of nonlinear, highly coupled differential equations. Model-based control schemes were proposed to enhance tracking capabilities with respect to simple linear control schemes. Independent joint controllers (of PD or PID type) are usually employed in industrial robot manipulators but cannot achieve satisfactory performance due to thei...
نمودار تعداد نتایج جستجو در هر سال
با کلیک روی نمودار نتایج را به سال انتشار فیلتر کنید