ISO 10303-44-1994 by Standard

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Note that the factorization in Equation (5) is valid even for an arbitrary order of the joints. 3 Path Planning With the methods described above, we can infer joint conf gurations that move the robot arm to previously un-encountered target positions. The data stored in the kinematic database S implicitly encodes information about the robot itself and the surroundings, as it contains only samples from accessible, obstacle-free regions both in configuratio space and world space. In the following, we present a planning method based on probabilistic roadmaps [7].

1c). The objective of this article is to formulate general guidelines for the development of dynamically balanced machinery that have a minimum of additional mass and a minimum of additional inertia, based on the literature cited above. e. the space that is available for the balancing elements, is taken into account, since in practise this often has a considerable inf uence on the performance. There is a difference between the inertia of an element and the inertia of the mechanism. This paper deals with the minimization of the inertia of the mechanism, which is represented by the reduced inertia as defi ed in [8].

2. There are various ways to apply the CRCM principle to a double pendulum, for instance by simply stacking two CRCM-balanced links with the conf guration of Fig. 1b. a) b) l k * m* I* l l q O’ m I l q m I q * * q O O m* I* q m* I* O’’’ * l q O’’ * l l c) O m* I* l m* I* m I q * q* k m*CI I*CI Fig. 1 General balancing principles, balancing by using (a) Duplicate Mechanisms (DM), (b) Counter-Rotary Counter-Masses (CRCM) and (c) Counter-Masses and Separate CounterInertias (SCI) (source [13]). 24 V.

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