نتایج جستجو برای: Task-Space Control
تعداد نتایج: 2014523 فیلتر نتایج به سال:
Actuators of robot operate in the joint-space while the end-effect or of robot is controlled in the task-space. Therefore, designing a control system for a robotic system in the task-space requires the jacobian matrix information for transforming joint-space to task-space, which suffers from uncertainties. This paper deals with the robust task-space control of electrically driven robot manipula...
this paper presents a discrete-time robust control for electrically driven robot manipulators in the task space. a novel discrete-time model-free control law is proposed by employing an adaptive fuzzy estimator for the compensation of the uncertainty including model uncertainty, external disturbances and discretization error. parameters of the fuzzy estimator are adapted to minimize the estimat...
as polysemy is encountered frequently in english as foreign language. fl learners’ ability to disambiguate polysemous verbs becomes critical to their comprehension in the target language. this thesis, accordingly, investigated how iranian efl learners achieved comprehension of english polysemous verbs by using three different types of cues: (1) elaborated context, (2) semantic frames, and (...
abstract the present study was conducted in order to investigate the impact of an integrated model of form-focused and task-based instruction on iranian efl learners vocabulary learning and retention.it also aimed to detect efl learners attitude towards the implementation of form-focused task-based vocabulary instruction in the classroom. in order to address the purposes of this study, a sampl...
In this paper, a task-space controller for electrically driven robot manipulators is developed using a robust control algorithm. The controller is designed using voltage control strategy. Based on the nominal model of the robotic arm, the desired signals for motor currents are calculated and then the voltage control law is proposed based on the current errors and motor nominal electrical model....
In this paper, a task-space controller for electrically driven robot manipulators is developed using a robust control algorithm. The controller is designed using voltage control strategy. Based on the nominal model of the robotic arm, the desired signals for motor currents are calculated and then the voltage control law is proposed based on the current errors and motor nominal electrical model....
abstract the present study was conducted to investigate the effect of using model essays on the development of writing proficiency of iranian pre-intermediate efl learners. to fulfill the purpose of the study, 55 pre- intermediate learners of parsa language institute were chosen by means of administering proficiency test. based on the results of the pretest, two matched groups, one as the expe...
learning-oriented assessment seeks to emphasise that a fundamental purpose of assessment should be to promote learning. it mirrors formative assessment and assessment for learning processes. it can be defined as actions undertaken by teachers and / or students, which provide feedback for the improvement of teaching and learning. it also contrasts with equally important measurement-focused appro...
this study investigated the effect of prior knowledge on the listening comprehension performance of fl learners. twenty students, male and female, drawn from the two intact groups of the senior and junior english language and literature majors were chosen as the participants of this study . the two groups were then randomly assigned into the experimental and control group. the experimental gr...
planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. the problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...
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