Download Controller design for industrial robots and machine tools: by Fusaomi Nagata PDF

By Fusaomi Nagata

Advanced production platforms are very important to the producing industry.  If a aim paintings piece has a curved floor, then automation of the sprucing procedure is hard. during this publication, the authors current effects the place business robots were used effectively to shine tough surfaces. Chapters disguise subject matters similar to velocity-based discrete-time keep an eye on procedure for commercial robots, initial simulation of clever strength keep watch over, computer-aided equipment (CAM) method for articulated business robots and laptop orthogonal-type robots for completing methods of LED lens cavities.

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Therefore, Eq. 13) is indeed a Lyapunov function for the system given by Eq. 12). V˙ (X) can be zero only at X = 0, everywhere else V (X) decreases, so that Eq. 12) is asymptotically stable. In general, Eq. 15) In the following, we consider the form in the discrete time k using a sampling time ∆t. 8: Block diagram of impedance model following force control with I-action. 17) {F (n) − F d } n=1 where K i ∈ ℜ3×3 is the integral gain matrix and is also set to a positive-definite diagonal matrix. The impedance model following force control method written by Eq.

Here, I is the identity matrix. M d , B d , K d and K f are set to positive-definite diagonal matrices. 12) Controller design for industrial robots and machine tools Here, the stability of Eq. 12) is briefly considered at the equilibrium by using Lyapunov stability analysis. 13) which is continuous and everywhere nonnegative. Differentiating Eq. 14) = −X T M −1 d BdX which is everywhere non-positive since M −1 d B d is a positive definite diagonal matrix. Therefore, Eq. 13) is indeed a Lyapunov function for the system given by Eq.

6×1 is the joint driving torque vector. 2) ˙ + G(θ) ˆ ˆ − J˙ (θ)θ˙ + H(θ, θ) where, ˆ denotes the modeled term. x ∈ ℜ6×1 , x˙ ∈ ℜ6×1 ¨ ∈ ℜ6×1 are the position/orientation, velocity and acand x celeration vectors in Cartesian coordinate system, respec¨ r are the desired position/orientation, tively. xr , x˙ r and x velocity and acceleration vectors, respectively. K v = diag(Kv1 , . . , Kv6 ) and K p = diag(Kp1 , . . , Kp6 ) are the feedback gains of velocity and position, respectively. J (θ) ˙ is the Jacobian matrix which gives the relation x˙ = J (θ)θ.

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