The kinematics of robot manipulators by McCarthy J.M.

By McCarthy J.M.

Some of the most vital good points of nonlinear structures with numerous levels of freedom is the presence of inner resonances at definite kin among normal frequencies of alternative modes. This monograph is the 1st booklet dedicated predominantly to inner resonances in numerous mechanical platforms together with these of functional significance. the most goal is to contemplate the inner resonances from the overall viewpoint and to explain their function in utilized nonlinear dynamics through the use of a good process according to introducing the advanced illustration of equations of movement (together with the a number of scale method). thought of listed here are self reliant and nonautonomous discrete two-degree-of-freedom structures, countless chains of debris, and non-stop structures, together with round jewelry and cylindrical shells. particular realization is paid to the case of one-to-one inner resonance in platforms with cubic and quadratic nonlinearities. Steady-state and nonstationary regimes of movement, interplay of the inner and exterior resonances at compelled oscillations, and bifurcations of steady-state modes and their balance also are studied

Show description

Read Online or Download The kinematics of robot manipulators PDF

Best robotics & automation books

Parallel Robots

Parallel robots are closed-loop mechanisms featuring excellent performances when it comes to accuracy, tension and skill to control huge quite a bit. Parallel robots were utilized in lots of purposes starting from astronomy to flight simulators and have gotten more and more renowned within the box of machine-tool undefined.

Advanced Neural Network-Based Computational Schemes for Robust Fault Diagnosis

The current e-book is dedicated to difficulties of version of synthetic neural networks to strong fault prognosis schemes. It provides neural networks-based modelling and estimation suggestions used for designing strong fault analysis schemes for non-linear dynamic platforms. part of the publication specializes in basic concerns equivalent to architectures of dynamic neural networks, equipment for designing of neural networks and fault prognosis schemes in addition to the significance of robustness.

Optimal and Robust Estimation: With an Introduction to Stochastic Control Theory, Second Edition

Greater than a decade in the past, world-renowned keep watch over platforms authority Frank L. Lewis brought what may develop into a regular textbook on estimation, below the name optimum Estimation, utilized in best universities during the global. The time has come for a brand new variation of this vintage textual content, and Lewis enlisted assistance from finished specialists to convey the e-book thoroughly brand new with the estimation tools using cutting-edge high-performance platforms.

Additional resources for The kinematics of robot manipulators

Sample text

Man erhalt zu einer gegebenen Eingangsgrofie u die Ruhelagen des Systems durch Losen der Gleichung 0-/(x,t/). 10a) und daraus folgt x{t) =x*{t). 11a) u{t) =u\t). 11b) und deren Ableitung Die Taylor-Reihenentwicklung von 01. 8) um die Ruhelage {x^u) liefert nun 2 Einige wichtige Eigenschaften von Regelsystemen 26 --. , u=u x='x und bei Vernachlassigung der Terme mit den hoheren Ableitungen und Beriicksichtigung der Gin. u) du und B u=u x=x Ganz entsprechend kann auch bei nichtlinearen VektordifFerentialgleichungen x{t) = f[x{t),u{t)] mit x{t) = [xi{t)...

Bei zu hohem Flillstand wird der Zufluss gedrosselt. In dem Blockschaltbild sind bei den einzelnen Ubertragungsgliedern bereits die Ubergangsfunktionen (normierte Sprungantworten) als Symbole fiir das dynamische Verhalten eingetragen. Auf eine detaillierte Erklarung dieser Symbole wird erst spater eingegangen. 4 dargestellten Warmetauscher wird Sekundardampf durch Primardampf aufgeheizt. Dabei sollen unabhangig von Storungen {z{ und ^2) ™ Primar- und Sekundardampfstrom die Temperatur 1} und der Dampfstrom m sekundarseitig auf fest vorgegebenen Werten gehalten werden.

7 Historischer Hintergrund Primar- 17 ^' Dampf 1 ^ R, Ventil. - J^ n^- ^M = 2/2 Mefistellen Warmetauscher '•:• Ro ^4J"^^ + © Regelkreis 1 R, *0-T ^X Regler W^o % R. A . 4. Mehrgrofienregelsystem eines Warmetauschers (a) und zugehoriges Blockschaltbild (b) konstant, ohne dass Hitze oder Kalte sie beeinflussen konnen. B. beim Ablauf von okonomischen und soziologischen Vorgangen. 1 in vier groBere Perioden einteilen. Die erste Periode (I) beginnt mit der bereits erwahn- 18 1 Einfiihrung in die Problemstellung der Regelungstechnik ten Erfindung des Fliehkraftreglers zur Drehzahlregelung von Dampfmaschinen durch J.

Download PDF sample

Rated 4.52 of 5 – based on 33 votes