ME5286CourseNotes12-09 - error in total time is-2.9 Quintic...

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Quintic – No Clipping Case: 3 axes, no clipping Estimated total time is 3.651 sec Actual total time is 3.656 sec Error in total time is -0.1% Note: Graphs for other two axes are similar
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Cubic – No Clipping Desired Motion: (x,y) = (40, 40) Estimated t f = 3.722 T f =3.750 before adding extra Δ t (t f = 3.797 after adding extra Δ t) Error in total time is -0.7% Δ t = 0.047 sec
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Quintic Δ S= 0.01284 End Δ S= 0.01134 Cubic Δ S= 0.01260 End Δ S= 0.00499
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CUBIC AND QUINTIC TIP ACCELERATIONS VS TIME (3 axes, No clipping)
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QUINTIC Case: 3 axes, clipping Estimated total time is 5.314 sec Actual total time is 5.906 sec % error in total time is -10% Note: Graphs for other two axes are similar
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CUBIC Estimated total time is 5.417 sec Actual total time is 5.578 sec
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Unformatted text preview: % error in total time is -2.9% Quintic Δ S = 0.00882 …constant portions End Δ S= 0.00628 Cubic Δ S = 0.00865 …constant portions End Δ S= 0.00787 Cartesian Motion between end points well defned However…  Need to continuously evaluate position oF manipulator including the transFormation into joint coordinates. ±or motion in the joint coordinates, need only interpolate between end points (1% oF earlier computation).  Problem with degeneracy- Result: Infnite joint velocities  DiFfcult to predict because oF complex relationship between Cartesian coordinates and joint parameters.  Also dependent on manipulator confguration...
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This note was uploaded on 11/25/2009 for the course MECH 371 taught by Professor Craig during the Spring '09 term at Hong Kong Institute of Vocational Education.

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ME5286CourseNotes12-09 - error in total time is-2.9 Quintic...

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