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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 15

Tham khảo tài liệu 'control of robot manipulators in joint space - r. kelly, v. santibanez and a. loria part 15', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 418 D Dynamics of Direct-current Motors Example D.f. Model of the motor with load whose center of mass is located on the axis of rotation nonlinear friction . Consider the model of nonlinear friction D.17 for the friction torque between the axis of the rotor and its bearings and the corresponding load s friction ỈLQ C2 sign ợ D.18 where fL and c2 are positive constants. Taking into account the functions D.17 and D.18 the motor-with-load model D.ll becomes ựL Jm q q ci c2 sign ợ where for simplicity we took r 1. 0 Bibliography Derivation ofthedynamic model of DC motors may be found in many texts among which we suggest the reader to consultthe following on vDr 8 and robottts resp activoly OgataK. 19vr Dete sontrsl engineering Prentice-Hall. Spong M. Vidyasagar M. 1989 Robot dynamics and control John Wiley Sons Inc. Various nonlinear models of friction for DC motors are presented in Canudas c. Ảstrôm K. J. Braun K. 1987 Adaptive friction compensation in DC-motor drives IEEE Journal of Robotics and Automation Vol. RA-3 No. 6 December. Ciim g asC 1988 Adaptive control for partially known systems Theory and applications Elsevier Science Publishers. CanudavC.jOEson H. Ảvtrôm K.J.vtv liimky p. ioer 4 new mode ièen nM ofsytiems wilk W HEEE h vt e on Va iikOt l An interestíngpaper dealingwiththeproblem u.deM.éúnii of solutions or mevonnical sytlainsivil c ilirnonl inurur riibion is Seung-Jean K. In-Joong Ha 1999 On the existence of Carathéodory sohitiontm mschanivrl syvtemtwtth VHctóirmiEEETTanseetíons on Automatic Control Vol. 44 No. 11 pp. 2086-2089. Index and .19 L2.390 .390 .19 .19 .20 lib.20 IRnXm.21 IR .20 X.19 3.19 V.19 6.19 L.19 e.g.xiv i. e.xiv c .xiv etc.xiv Ảctrõm K. J. 308 33 4vv AMallah c . T.1 30. 333. 39V aboolule value.2V abtooloos. 60 82 42V elect romechanical.82 29 hydraulic.2V line ar.9V oonlinoao.9V adoptíoo gain.39V op d at e law.oiV adaolive control clos ed lo op.330 law.3120 pooomelric oonvergenco.3120 adaptive law.328 Ailon A.308 Alvarez R.XV .