![](http://nfs.gongkong.com/Upload/trade/201512/20151218163127823_w.jpg)
- 型号:ently Nevada 80917-01
- 数量:10
- 制造商: 厦门兴锐达自动化设备有限公司
- 有效期:2019/2/1 0:00:00
BENTLY NEVADA 3500 RACK WITH POWER SUPPLY AND MODULES 20/50/32/42M
BENTLY NEVADA 3500 RACK W/ POWER SUPPLY MODULES 15/20/50/32/42M
BENTLY NEVADA 2155/00-06-03-00-01-11-11-11-00-00-00 USPP 2155000603000111
BENTLY NEVADA 3300 Rack w/ 3300/12 Power Supply 3300/16
BENTLY NEVADA 3500/22-01-01-00 NSPP 350022010100
NEW BENTLY NEVADA 3500/40 PROXIMITOR
BENTLY NEVADA 3300/35-11-01-01-00-00 NSPP 3300351101010000
BENTLY NEVADA 72201-02-02-05-01-01-01 USPP 7220102020501010
ently Nevada 80917-01
BENTLY NEVADA 3300/35-11-01-01-00-00 USPP 3300351101010000
BENTLY NEVADA 3500/33 NSPP 350033
BENTLY NEVADA 3300/50-02-01-00-00 USPP 33005002010000
BENTLY NEVADA 3300-50-01-01-01-00 USPP 33005001010100
Bently Nevada 134652-01 137305-01
Bently Nevada 103928-02 Interface 5160
BENTLY NEVADA 3500/64M NSPP 350064M
BENTLY NEVADA 3300/50-01-01-01-02 USPP 33005001010102
BENTLY NEVADA 3300-16-02-01-01-01-02-00 USPP 3300160201010102
BENTLY NEVADA 3300/55-03-04-06-06-00-00-05-00 USPP 3300550304060600
BENTLY NEVADA 3300-16-02-01-01-01-01-00 USPP 3300160201010101
BENTLY NEVADA 3300/40-03-01-01-00-00 USPP 3300400301010000
Bently Nevada 3300/50-03-01-00-00 Tachometer
Bently Nevada 3300/46-XX-02-01-00 Differential Expansion Module
Bently Nevada Dual Vibration Monitor Model 3300/15-02-01-00-00-00-00
Bently Nevada 3300 3300/06-0.3
BENTLY NEVADA 3300/55-03-04-05-05-00-00-07-00 USPP 3300550304050501
BENTLY NEVADA 3500/42M NSFP 350042M
ently Nevada 80917-01
为使实际对象的动力学跟踪理想对象,实际对象在C处的加速度必须与理想对象的相同。从+为Moore-Penrose广义逆,Ns=(ST)+ST为到矩阵ST零空间上的投影矩阵,AId为任意常数,只存在于非刚性抓持的情况(rankS下面计算阻抗力Fmp.设对象k时刻的指令位姿为Kcmd T,其中9cmd(k)=T为Euler角表示的姿态伪向量(以下省略时标k)。先将Kmd转换为期望位姿gddc,再利用螺旋理论计算对象的位姿误差矢量。
态矩阵成的方法参见,jd=yd;设由gpc到gt的速度螺旋坐标为5=T,由螺旋理论可知,SE(3)是一个螺旋运动,0是螺旋的量值。gpc运动e50后达到gdc,因速度螺旋5在体标架描述,有gdc=gpc.e'即/°=g-cc.利用,的计算公式,注意到0是一个微量,且⑴⑴T- 2=I3,可解得其中=Rpc,=Rc.于是从gpc运动到gL的位置误差为在=v9,姿态误差为S=⑴0,它们是对象实际位姿和期望位姿的函数,可表示为T=S(gpc,Kmd)。
求得了位姿误差后,再利用对象的体速度,得到理想对象的阻抗力计算公式为现在求各机械手的期望力。将对象的期望加速度Vpc和力约束关系(6)代入对象动力学方程(9),并以各手的联合力矢量为变量解方程得到上NwSSi为到矩阵Wsh的零空间上的投影矩阵;ww+h 1Wsh)-1为WSSh的加权为逆,通过改变对角加权矩阵Q可以改变各手的负载;《/》int为对象的内力控制项,可以形成比例积分控制的形式;Fext为对象所受的外力,可由的内力曲线。由图可见,对象位置控制误差小于1.0mm,Y方向的内力在±1.0N之内。其它方向的位置误差和内力都不大于这两个值。
2)对象运动过程中遇到环境,并对环境施加一定压力的实验。在实验中,系统自动判断环境位置。六个方向内力控制的比例和积分系数分别为0.4和1.0;前三方向的速度系数kv=18,位置系数kp= 1500,后三方向kv=20,kp=2500;对象Z方向的指令外力为10N.给出了对象沿Z轴运动中遇到台秤时的控制曲线。从图中看到,由于动态判断环境知识,外力控制达到了较高的精度,而且外力跟踪曲线没有大的抖动,这体现了阻抗控制策略统一的特点。内力控制与自由运动情况类似。
从实验结果看到,无论对象是自由运动还是与环境接触,本文的算法对运动、外力和内力的控制都达到了较高的精度。另外,算法具有模块化结构,其分层并行实现不仅利于实时计算,而且为高层的规划调度提供了方便的接口。它补偿对象动力学,包含与环境的接触点信息,灵活分配负载等特点对于操作大质量对象和完成装配等作业将有较大的意义。
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BENTLY NEVADA 3500/42 NSFP 350042
BENTLY NEVADA 3300/20-01-01-02-00-00 USPP 3300200101020000
BENTLY NEVADA 3300/16-03-02-00-00-00-00 NSPP 3300160302000000
BENTLY NEVADA 3500/42M NSPP 350042M
BENTLY NEVADA 2201/06-01 USPP 22010601
BENTLY NEVADA 3300/55-01-04-02-02-00-00-04-00 NSPP 3300550104020202
BENTLY NEVADA 3300/55-01-04-02-02-00-00-05-00 USPP 3300550104020200
BENTLY NEVADA 72751-03-01-13-00-01 NSPP 727510301130001
BENTLY NEVADA 3500/93 3500 B491583
Bently Nevada 3500/42M 140734-02 3500 42 M
Bently Nevada 3300/01-01-01 System Monitor NEW 308
Bently Nevada 105401-02 Interface 3407
BENTLY NEVADA 3500/93 3500 B488252
ently Nevada 80917-01
Bently Nevada 3300/15-12-01-03-00-01-00
Bently Nevada 3500/53 Electronic
2201/02-02 Bently Nevada for Allen Bradley 1771
BENTLY NEVADA VIBRATION MONITOR 3300/16-11-01-01-00-00
Bently Nevada 3300/70-XX-00 PLC PWA83980-01 78412
Bently Nevada 3300/70-01-00 PLC PWA83980-01 84136
Bently Nevada 3300/75 3300/75-02-00-00 330075
Bently Nevada 3300/40-03-01-01-00-00 PLC PWA88796-01 82924
BENTLY NEVADA 3300/03-02-00 USPP 3300030200
BENTLY NEVADA 1100-0826 NSPP 11000826
BENTLY NEVADA 3300/12-01-22-01 NSFP 330012012201
BENTLY NEVADA 3300/16-03-02-00-00-00-00 USPP 3300160302000000
BENTLY NEVADA 3300/20-11-01-01-00-00 NSPP 3300201101010000
NEW BENTLY NEVADA 3500/45 10V-DC D466931
ently Nevada 80917-01
BENTLY NEVADA 3500 133388-02 D
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