Controller Design for Industrial Robots and Machine Tools

List of tables

1.1. Parameters of GA operation in case of resolved acceleration control law 11

1.2. Constant values in consequent part [× 10^- 4 mm] 22

1.3. Simulation condition for acquiring teaching signals 28

2.1. Stiffness of environment [N/m] 45

2.2. Viscosity of environment [Ns/m] 45

2.3. Parameters for GA operation 50

2.4. Stiffness of learned environments [N/m] 51

2.5. Learned consequent constants (best individual) 57

2.6. Learned consequent constants for GFEM 58

2.7. Stiffness of unlearned environments [N/m] 62

4.1. Sanding conditions and control parameters 107

5.1. Consequent constants of fuzzy reasoning part for d(i) and Δd(i) 136

6.1. Polishing conditions in the case of using the path shown in Fig. 6.8(a) 159

7.1. Parameters tuned ...