Robot Manipulator Control offers a complete survey of control systems for serial-link robot arms and acknowledges how robotic device performance hinges upon a well-developed control system. Containing over 750 essential equations, this thoroughly up-to-date Second Edition, the book explicates theoretical and mathematical requisites for controls design and summarizes current techniques in computer simulation and implementation of controllers. It also addresses procedures and issues in computed-torque, robust, adaptive, neural network, and force control.
Electric motors are widely used in industries to convert electrical energy into mechanical form. Control techniques are designed to improve the performance and efficiency of the drive so that large amounts of electrical energy can be saved. This book is primarily written with the objective of providing necessary information on use of electric motors for various applications in industries.
Industrial robots are currently employed in a large number of applications and are available
with a wide range of configurations, drive systems, physical sizes and payloads. However,
the numbers in service throughout the world are much less than predicted over twenty
years ago (Engelberger 1980). This is despite major technological advances in related areas
of computing and electronics, and the availability of fast, reliable and low-cost
microprocessors and memory. This situation is mainly a result of historical and economic
circumstances, rather than technical considerations.
COSO is pleased to present this guidance to assist smaller public companies in implementing the
1992 COSO Internal Control—Integrated Framework. We believe the guidance will be helpful to
smaller businesses as they explore cost-benefit approaches to achieve their financial reporting
objectives. This guidance contains numerous examples that have been effectively used by smaller
business to address its internal control objectives.
The COSO task force has considered the comment letters received during the exposure period
of the preliminary guidance.
These goals place significant demands on the CS system, which must • • • • • • Estimate support requirements for alternative force packages, assess their feasibility, and propose alternative operational and support plans Estimate operational capabilities of beddown facilities and other combat support resources Configure the distribution network to meet employment and resupply needs Execute support plans and monitor support and operational performance Assess the effects of resource allocation options and prioritize allocations to users Signal when plans are out of control and sup...
This monograph discusses U.S. Air Force progress toward implementing sense and respond logistics or, as defined more broadly, sense and respond combat support. It describes some of the research that has been conducted on the military combat support system, focusing on improvements in prediction capability,
Disclaimer Opinions, conclusions, and recommendations expressed or implied within are solely those of the contributors and do not necessarily represent the views of Air University, the United States Air Force, the Department of Defense, or any other US government agency. Cleared for public release: distribution unlimited.
This book describes some devices that are commonly identified as tactile or force sensors. This is achieved with different degrees of detail, in a unique and actual resource, through the description of different approaches to this type of sensors. Understanding the design and the working principles of the sensors described here requires a multidisciplinary background of electrical engineering, mechanical engineering, physics, biology, etc.
This study is one of a series of RAND publications that address ACS issues in implementing the EAF. Other reports in the series include the following: • Supporting Expeditionary Aerospace Forces: An Integrated Strategic Agile Combat Support Planning Framework, Robert S. Tripp et al. (MR-1056-AF). This report describes an ...
Use of the following acknowledgement to indicate the source would be appreciated, however: The National Asthma Control Task Force. The Prevention and management of asthma in Canada:
a major challenge now and in the future
Aussi disponible en français sous le titre Prévention et prise en charge de l’asthme au Canada :
Tham khảo sách 'combat support execution planning and control - an assessment of initial implementations in air force exercises', khoa học xã hội, lịch sử văn hoá phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả
Anticipating varied and fast-breaking regional crises in the future, the United States is reassessing how it prepares, maintains, and employs its military forces. Key to this effort is examining the combat support (CS) system, and particularly the command and control of CS forces (CSC2). This research looks at the current
This textbook grew out of a number of undergraduate and graduate courses on
logistics and supply chain management that we have taught to engineering, computer
science, andmanagement science students.The goal of these courses is to give students
a solid understanding of the analytical tools available to reduce costs and improve
service levels in logistics systems. For several years, the lack of a suitable textbook
forced us tomake use of a number ofmonographs and scientiﬁc paperswhich tended to
be beyond the level ofmost students.
Electric motors convert electrical energy into mechanical energy by utilizing the
properties of electromagnetic energy conversion. The different types of motors
operate in different ways and have different methods of calculating the performance,
but all utilize some arrangement of magnetic fields. Understanding the concepts
of electromagnetics and the systems of units that are employed is essential to
understanding electric motor operation.The first part of this chapter covers the concepts
and units and shows how forces are developed.
Magnets are pieces of metal that have the ability to attract other metals. Every magnet has two poles: a north and a south. Much like electrical charges, two similar magnetic poles repel each other; while opposite magnetic poles attract each other. Magnets have a continuous force around them that is known as a magnetic field. This field enables them to attract other metals. Figure 1 illustrates this force using bar and horseshoe magnets.
In practice, however, earthquakes generate stronger ground motion than Level 1 but
not exceeding Level 2 can occur in service life of a structure. In current seismic design,
consideration was not given directly to changes in activities and risks to the seismic motion
through time and the importance of adopting effective methods of repair and reinforcement.
These factors can not be implemented fully into account by simply checking the elastic limit or
reparability limits or structural collapse of a Level 1 or 2 earthquake motion
forces based on current seismic design....
Practically every industrial process requires objects to be moved, manipulated or be subjected to some form of force. This is generally accomplished by means of electrical equipment (such as motors or solenoids), or via devices driven by air (pneumatics) or liquids (hydraulics).
Modern organizations have been required to make significant transformations
in response to an accelerating rate of change in technical, social, political, and
economic forces. As a result of these changing forces, the management process
has become more difficult, requiring greater skills aimed at guiding the future
course of an organization in a rapidly evolving and uncertain world. These skills
are the essence of strategic management.
Strategic management is concerned with deciding in advance what an organization
should do in the future (strategic planning).
Control of Robotic Systems in Contact Tasks
23.1 23.2 23.3 23.4 23.5 23.6 Introduction Contact Tasks Classiﬁcation of Robotized Concepts for Constrained Motion Control Model of Robot Performing Contact Tasks Passive Compliance Methods
Nonadaptable Compliance Methods • Adaptable Compliance Methods
Active Compliant Motion Control Methods
Impedance Control • Hybrid Position/Force Control • Force/Impedance Control • Position/Force Control of Robots Interacting with Dynamic Environment