منابع مشابه
Comparative study of performance indices for fundamental robot manipulators
In this paper, conventional global and local indices – structural length index, manipulability measure, condition number and Global Conditioning Index (GCI) – have been examined for the workspace optimization of the sixteen fundamental robot manipulators classified by B. Huang and V. Milenkovic [Kinematics of major robot linkages, Robotics International of SME 2 (1983) 16–31]. To find the optim...
متن کاملWhat Mathematics Is The Most Fundamental ?
Standard mathematics involves such notions as infinitely small/large, continuity and standard division. However, some of these notions are treated differently in traditional and constructive versions. This mathematics is usually treated as fundamental while finite mathematics is treated as inferior. Standard mathematics has foundational problems (as follows, for example, from Gödel’s incomplete...
متن کاملWhat Mathematics Is The Most Fundamental ? Felix
Standard mathematics involves such notions as infinitely small/large, continuity and standard division. This mathematics is usually treated as fundamental while finite mathematics is treated as inferior. Standard mathematics has foundational problems (as follows, for example, from Gödel’s incompleteness theorems) but it is usually believed that this is less important than the fact that it descr...
متن کاملAn Adaptive Impedance Controller for Robot Manipulators
A desired dynamic behavior of constrained manipulators can be achieved by means of impedance control and various implementations of fixed controllers have been proposed. In this paper, and adaptive implementation is presented as an alternative to reduce the design sensitivity due to manipulator mismatch. The adaptive controller globally achieves the impedance objective for the nonlinear dynamic...
متن کاملAdaptive RBF network control for robot manipulators
TThe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. This paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. As a novelty, the proposed controller employs a simple Gaussian Radial-Basis-Function Network as an uncertainty estimator. The proposed netw...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 1983
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.1.2_51