Information Technology Reference
In-Depth Information
joints
joints
0.6
0.6
0.4
0.4
0.2
0.2
0
0
−0.2
−0.2
−0.4
−0.4
−0.6
q1
q2
q3
q4
q5
q6
−0.6
q1
q2
q3
q4
q5
q6
−0.8
−0.8
−1
−1
−1.2
−1.2
0
5
10
15
20
0
5
10
15
20
(a)
(b)
joints
joints
0.6
0.6
q1
q2
q3
q4
q5
q6
0.4
0.4
0.2
0.2
0
0
−0.2
−0.2
−0.4
−0.4
q1
q2
q3
q4
q5
q6
−0.6
−0.6
−0.8
−0.8
−1
−1
−1.2
−1.2
0
5
10
15
20
0
2
4
6
8
10
12
14
16
18
20
(c)
(d)
Fig. 14.6 Joints positions with control law for κ=0.1, 1, 100, auto
tuning parameter
2.5
2
1.5
1
0.5
0
0
5
10
15
20
Fig. 14.7 The trajectory of tuning parameter using the automatic approach
 
Search WWH ::




Custom Search