Download or read book Principles of Robot Modelling and Simulation written by Saïd M. Megahed and published by John Wiley & Sons. This book was released on 1993 with total page 344 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Robot Control SYROCO 85 written by L. Basañez and published by Pergamon. This book was released on 1986 with total page 584 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Contribution a l tude de la modelisation et de la commande des syst mes m caniques articules written by Marc Renaud and published by . This book was released on 1975 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Contribution la commande par mode de glissement des syst mes m catroniques written by Sofiane Mahieddine Mahmoud and published by . This book was released on 2007 with total page 151 pages. Available in PDF, EPUB and Kindle. Book excerpt: Ce mémoire s’intéresse à la commande par mode de glissement des systèmes mécatroniques, notamment linéaires et non linéaires, mal définis et perturbés. Cette loi de commande présente plusieurs avantages, à savoir : la réduction de l’ordre du système, l’insensibilité aux variations des paramètres du système et aux perturbations, la non exigence de la connaissance parfaite du modèle du système à contrôler et, enfin, la simplicité d’implantation pratique. le phénomène de réticence est l’un des inconvénients majeurs de cette technique qui peut exciter les dynamiques négligées et conduire à l’instabilité. La contribution principale de ce travail porte sur la synthèse d’une loi de commande à régime glissant assurant la robustesse du comportement vis-à-vis des incertitudes paramétriques et des perturbations extérieures. L’objectif est de trouver une solution pour remédier, d’une part, à l’effet de broutement en conservant la propriété de robustesse, et, d’autre part, synthétiser une commande robuste rejetant les perturbations mal-adaptées pour une classe spécifique de systèmes. Cette classe peut regrouper les systèmes mécatroniques. Dans le cas des systèmes linéaires, et en présence de perturbations mal-adaptées, une surface de glissement est synthétisée pour obtenir une loi de commande robuste. Ensuite, une loi de commande utilisant l’approche fonction de transfert est proposée, cette étude concerne les systèmes linéaires du second ordre. Une application de cette commande à un système hydraulique a été présentée. L’objectif dans le cas des systèmes non linéaires est de trouver une solution à l’effet de broutement, en changeant la structure de la commande à l’intérieur de la couche limite de la surface de glissement, un formalisme de compensation de l’incertitude et de la perturbation a été présenté. Le problème de perturbations mal-adaptées pour une classe des systèmes a été résolu. En présence des bruits de mesure, nous avons proposé un différentiateur à mode glissant par l’approche fonction de transfert, une application réelle sur un système hydraulique a été présentée. Enfin, la dernière partie concerne la synthèse des observateurs à mode glissant
Download or read book Commande et observation des syst mes m caniques non lin aires written by Ioannis Sarras and published by Editions Universitaires Europeennes. This book was released on 2012 with total page 172 pages. Available in PDF, EPUB and Kindle. Book excerpt: Les systemes mecaniques sont omnipresents dans la vie quotidienne. Avec les developpements technologiques il y a un grand interet afin d'ameliorer leurs performances en garantissant des marges de stabilite et en reduisant en meme temps le cout d'implementation. Des domaines qui beneficient enormement des etudes plus profondes de systemes mecaniques sont par exemple l'aeronautique et l'automobile. Ainsi, la proposition des cadres d'etudes methodologiques qui permettent d'etablir analytiquement des resultats sur la commande et l'observation de systemes mecaniques apparait d'avoir une importance majeure. Dans cet esprit, des resultats importants dans le domaine de l'analyse, du controle et de l'observation des systemes mecaniques sous-actionnes sont presentes.
Download or read book Contribution l tude de la mod lisation et de la commande des syst mes m caniques articul s written by Marc Renaud and published by . This book was released on 1975 with total page 184 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Biped Locomotion written by Miomir Vukobratovic and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 366 pages. Available in PDF, EPUB and Kindle. Book excerpt: Here for the first time in one book is a comprehensive and systematic approach to the dynamic modeling and control of biped locomotion robots. A survey is included of various approaches to the control of biped robots, and a new approach to the control of biped systems based on a complete dynamic model is presented in detail. The stability of complete biped system is presented for the first time as a highly nonlinear dynamic system. Also included is new software for the synthesis of a dynamically stable walk for arbitrary biped systems, presented here for the first time. A survey of various realizations of biped systems and numerous numerical examples are given. The reader is given a deep insight into the entire area of biped locomotion. The book covers all relevant approaches to the subject and gives the most complete account to date of dynamic modeling, control and realizations of biped systems.
Download or read book Dynamique Non lin aire Et Le Chaos written by and published by . This book was released on 1993 with total page 130 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Nonsmooth Mechanics written by Bernard Brogliato and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 565 pages. Available in PDF, EPUB and Kindle. Book excerpt: Thank you for opening the second edition of this monograph, which is devoted to the study of a class of nonsmooth dynamical systems of the general form: ::i; = g(x,u) (0. 1) f(x, t) 2: 0 where x E JRn is the system's state vector, u E JRm is the vector of inputs, and the function f (-, . ) represents a unilateral constraint that is imposed on the state. More precisely, we shall restrict ourselves to a subclass of such systems, namely mechanical systems subject to unilateral constraints on the position, whose dynamical equations may be in a first instance written as: ii= g(q,q,u) (0. 2) f(q, t) 2: 0 where q E JRn is the vector of generalized coordinates of the system and u is an in put (or controller) that generally involves a state feedback loop, i. e. u= u(q, q, t, z), with z= Z(z, q, q, t) when the controller is a dynamic state feedback. Mechanical systems composed of rigid bodies interacting fall into this subclass. A general prop erty of systems as in (0. 1) and (0. 2) is that their solutions are nonsmooth (with respect to time): Nonsmoothness arises primarily from the occurence of impacts (or collisions, or percussions) in the dynamical behaviour, when the trajectories attain the surface f(x, t) = O. They are necessary to keep the trajectories within the subspace = {x : f(x, t) 2: O} of the system's state space.
Download or read book Integrated Design and Manufacturing in Mechanical Engineering written by Patrick Chedmail and published by Springer. This book was released on 2012-11-05 with total page 545 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume contains the selected papers of the first I.D.M.M.E. conference on 'Integrated Design and Manufacturing in Mechanical Engineering', held in Nantes from 15-17 April 1996. Its objective was to discuss the questions related to the definition of the optimal design and manufacturing processes and to their integration through coherent methodologies in adapted environments. The initiative of the Conference and the organization thereof, is mainly due to the efforts of the french PRIMECA group (Pool of Computer Resources for Mechanics) started eight years ago. We were able to attract the internationru community with the support of the International Institution for Production Engineering Research (C.I.R.P.). The conference brought together two hundred and fifty specialists from around the world. About ninety papers and twenty posters were presented covering three main topics : optimization and evaluation of the product design process, optimization and evaluation of the manufacturing systems and methodological aspects.
Download or read book Body and Spirit in the Middle Ages written by Gaia Gubbini and published by Walter de Gruyter GmbH & Co KG. This book was released on 2020-08-10 with total page 312 pages. Available in PDF, EPUB and Kindle. Book excerpt: A crucial question throughout the Middle Ages, the relationship between body and spirit cannot be understood without an interdisciplinary approach – combining literature, philosophy and medicine. Gathering contributions by leading international scholars from these disciplines, the collected volume explores themes such as lovesickness, the five senses, the role of memory and passions, in order to shed new light on the complex nature of the medieval Self.
Download or read book Basic Technics in Ecological Farming Techniques de Base en Agriculture Biologique Grunds tzliche Verfahren der kologischen Landwirtschaft Le Maintien de la Fertilit des Sols The Maintenance of Soil Fertility Die Erhaltung der Bodenfruchtbarkeit written by Stuart Hill and published by Birkhäuser. This book was released on 2013-12-14 with total page 364 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Analysis and Optimization of Systems written by Alain Bensoussan and published by . This book was released on 1986 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Studies in Eighteenth Century Islamic History written by University of Pennsylvania. Middle East Center and published by Carbondale : Southern Illinois University Press. This book was released on 1977 with total page 472 pages. Available in PDF, EPUB and Kindle. Book excerpt: Interdisciplinary in conception, this cooperative study by the world's leading Islamists consists of sixteen chapters and three general introductions tracing in historical perspective the administrative, economic, and cultural aspects of various regions of the Ottoman Empire as well as the overall structure of the Empire itself. A complete glossary of Arabic, Turkish, and Persian terms is provided, as well as a bibliography of major works in European and non-European languages. More than forty photographs illustrate changing tastes in Islamic architecture and art. The fourth in a series of biennial colloquia sponsored by and published as Papers on Islamic History, under the auspices of the Near Eastern History Group, Oxford, and the Middle East Center, University of Pennsylvania.
Download or read book Gas cooled Nuclear Reactors written by France. Commissariat à l'énergie atomique and published by . This book was released on 2006 with total page 192 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Multi party Elections in Africa written by Michael Cowen and published by . This book was released on 2002 with total page 404 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume contains electoral studies of multiparty politics in 14 African countries during the 1990s. Most are about national elections in Anglophone Africa. There are also less well-known examples from Sudan, Ethiopia and Guinea Bissau. The collection also features studies of the local elections in Namibia and of a significant by-election in Malawi. The multiparty period had been put, wherever possible, within the historical context of earlier elections in Africa. Questions addressed include: how did incumbent governing regimes learn to live with multiparty politics? Why have some elections been so closely fought and others have suffered from apathy? Why has there been relatively open political expression and activity when the elections have increased the political and economic manipulation by incumbent governments? Why have the elections of the 1990s been so marked by local and ethnic variations? To what extent did this wave of democracy result from pressure from donor countries?
Download or read book Nondifferentiable Optimization written by Philip Wolfe and published by . This book was released on 1975 with total page 178 pages. Available in PDF, EPUB and Kindle. Book excerpt:
