ProceedingsIEEE Computer Society Press, 1999 - Artificial intelligence |
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Page 182
... equation in ( 3 ) and then adjoin it formally to the dynamic equations ( 1 ) . This results in the following extended dynamic equations : M 0 J m where Jm dC ds m ac m = да q T m ' F ( q , q ) d'C ds2 m ( 4 ) is the n - dimensional row ...
... equation in ( 3 ) and then adjoin it formally to the dynamic equations ( 1 ) . This results in the following extended dynamic equations : M 0 J m where Jm dC ds m ac m = да q T m ' F ( q , q ) d'C ds2 m ( 4 ) is the n - dimensional row ...
Page 222
... equation : T m m - T m – 9pSU F11Ck − 1 ( r ” – rk − 1 ) -1 - ( 8 ) where scalar gp is a gain . The right side of this equa- tion can be evaluated at the ( k - 1 ) -th iteration . Thus , values of manipulated coordinates at the ( k ...
... equation : T m m - T m – 9pSU F11Ck − 1 ( r ” – rk − 1 ) -1 - ( 8 ) where scalar gp is a gain . The right side of this equa- tion can be evaluated at the ( k - 1 ) -th iteration . Thus , values of manipulated coordinates at the ( k ...
Page 289
... Equation ( 4 ) for every point Pj . Within the interval ( Oci , Oci + 1 ) , the topology of C ( A , B ) stays the same . Hence , this interval is called a constant topology orientation interval . The range [ 0,2л ) can be expressed as ...
... Equation ( 4 ) for every point Pj . Within the interval ( Oci , Oci + 1 ) , the topology of C ( A , B ) stays the same . Hence , this interval is called a constant topology orientation interval . The range [ 0,2л ) can be expressed as ...
Contents
ASSEMBLY | 1 |
FeatureBased Assembly Model and MultiAgents System structure for ComputerAided Assembly | 8 |
Construction of the Precedence Graphs Equivalent to a Given Set of Assembly Sequences | 14 |
Copyright | |
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1999 IEEE International algorithm analysis analyzed applied approach Archimedes Assembly and Task assembly features assembly modeling assembly planning assembly process assembly sequence automated assembly automatically axis components Computer Conf configuration configuration space constraint manager constraints cost defined deformation described Design for Assembly developed disassembly processes Engineering evaluation example feasible fixturing force framework function Genetic Algorithms geometric gripper IEEE International Symposium implemented input integration joint kinematic kinematic pairs machining manipulator manufacturing matrix method module motion planning node object operations optimal orientation path planning path representation performed planner Portugal position precedence graph problem Proc process planning product design recycling representation represented Robotics and Automation rotation screw theory shown in Figure simulation solution space sphere step strategy structure subassembly Symposium on Assembly Task Planning Porto testing tool trajectory twistmatrix variables vector workcell