ProceedingsIEEE Computer Society Press, 1999 - Artificial intelligence |
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Page 177
... joints torques B1 to B5 are logical conditions , m , is the mass of link i , r , is the distance from the joint axis to the link center of mass and g is the acceleration due to gravity . In the next section we analyze the kinematic and ...
... joints torques B1 to B5 are logical conditions , m , is the mass of link i , r , is the distance from the joint axis to the link center of mass and g is the acceleration due to gravity . In the next section we analyze the kinematic and ...
Page 189
... joint torque . In computation , the end effector path of the manipulator is specified by the following equation : Y = -2X / 3 + 1 . ( 18 ) In this case , the end effector trajectory ( X , Y ) related to joint trajectories of the ...
... joint torque . In computation , the end effector path of the manipulator is specified by the following equation : Y = -2X / 3 + 1 . ( 18 ) In this case , the end effector trajectory ( X , Y ) related to joint trajectories of the ...
Page 191
... joint position and torque trajectories for Algorithm 1 ( red ) ( m ) 1.5 2 = / 3 8 1.0 8/3 0 0.5 8 Obtained trajectory 60 N - m Obtained torque U1 -60 I sec 1 0.2 1 Sec Fig.6 Finally obtained joint position and torque . trajectories by ...
... joint position and torque trajectories for Algorithm 1 ( red ) ( m ) 1.5 2 = / 3 8 1.0 8/3 0 0.5 8 Obtained trajectory 60 N - m Obtained torque U1 -60 I sec 1 0.2 1 Sec Fig.6 Finally obtained joint position and torque . trajectories by ...
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