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“ALGORITHMS OF TERMINAL CONTROL OF SPATIAL MOVEMENTS OFAGRICULTURAL ROBOTS” | Authors: | Erguven, Cabir | | Subjects: | სოფლის მეურნეობა; Сельское хозяйство; Agriculture | | DDC Subject: | Agriculture & related technologies | | Table Of Contents: | General Characterization of the Work;
Analysis of Literature Sources;
1.1 Types of Robots;
1.1.1 Robots in Agriculture;
1.1.1.1 Fruit Picking Robot;
1.1.1.2 Tomato and Cherry Tomato Harvesting Robot;
1.1.1.3 Strawberry Harvesting Robots;
1.1.1.4 Cucumber Harvesting Robot;
1.1.1.5 Multi-Operation Robot for Grapevine;
1.1.1.6 Chrysanthemum Cutting Sticking Robot;
1.1.2 Stock Raising;
1.1.2.1 Sheep Sheering Robot;
1.1.3 Robots for the Food Industry;
1.1.3.1 .The Intelligent Integrated Belt Manipulator;
1.1.3.2 Food Cutting Systems;
1.1.3.3 Vision-Based Object Handling;
1.2 Survey of Robot Manipulators Movement Control Methods;
1.3 Differential Equations of Motion;
1.4 Terminal Control Problems;
1.5 Goals and Objectives of the Research Work;
2. The Spinor Model of Spatial Rotation Kinematics;
2.1 Spinor Representation of Generalized Three-Dimensional Rotations 33;
2.2 Calculation of Euler Angles;
2.3. Kinematics Expressions for Euler Angles;
3. Problems of Terminal State Control for Controlled Objects;
3.1. General;
3.2. Reduction Problem;
3.2.1 Controlling Function Synthesis;
3.2.2 Analysis of the Control Process Dynamics in the
Reduction Problem;
3.3 The Acceleration Problem;
3.3.1 Controlling Function Synthesis;
3.3.2 Analysis of the Control Process Dynamics in the
Acceleration Problem;
3.4 The Approach Problem;
3.4.1 Controlling Function Synthesis;
3.4.2 Analysis of the Control Process Dynamics in the
Approach Problem;
3.5 The Approach Problem with an Additional Condition Imposed
on the Terminal Accelerations;
Control of Terminal States of Spatial Rotations of
Robot-Manipulators;
4.1 Control in the Initial Rotation Stage;
4.2 Control in the Uniform Rotation Stage;
4.3 Deceleration;
4.4 Development of an Optimal Control of the Electric Drive of
Spatial Rotations of Manipulators;
Conclusion;
References. | | Date of Issue: | 2006 | | Source: | “ALGORITHMS OF TERMINAL CONTROL OF SPATIAL MOVEMENTS OFAGRICULTURAL ROBOTS”/ G.Erguven: Dis...Candidate of Science 05.13.16/ Supervisor: Doctor of Science, Professor Dr. Alexander Milnikov; Tbilisi - 2006-104p. Bibliografia: p99-104.UDC: 631.3.0025-52+004.896 | | Language: | English; Georgian | | Extent Format: | 104 გვ. | | Created: | 2007-04-16 | | Modified: | 2007-11-30 |
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