01728nam 2200373Ia 450 99639427910331620200824132442.0(CKB)3810000000007023(EEBO)2248497843(OCoLC)ocm14917246e(OCoLC)14917246(EXLCZ)99381000000000702319861203d1662 uy |engurbn||||a|bb|Critica sacra, or, Philologicall and theologicall observations upon all the Greek words of the New Testament[electronic resource] in order alphabeticall : wherein usually the etymon of the word is given, its force and emphasis observed and the severall acceptions of it in Scripture and the version by expositours are set down /by Edward Leigh ..The fourth edition,corrected and enlarged by way of supplement to the whole book, which was never in print before this impression / done by the authours one [sic] hand.London Printed by John Redmayne1662[6], 272, [21] pReproduction of original in the Union Theological Seminary Library, New York.Contains bibliographical references and index.eebo-0160Greek language, BiblicalDictionariesEnglishHebrew languageDictionariesEnglishGreek language, BiblicalEnglish.Hebrew languageEnglish.Leigh Edward1602-1671.792090EAFEAFWaOLNBOOK996394279103316Critica sacra, or, Philologicall and theologicall observations upon all the Greek words of the New Testament2305107UNISA01570nam 2200409Ka 450 991069685830332120081022095626.0(CKB)5470000002382298(OCoLC)263063923(OCoLC)995470000002382298(EXLCZ)99547000000238229820081022d2007 ua 0engtxtrdacontentcrdamediacrrdacarrierIntegrated chemical effects test project[electronic resource] /J Dallman ... [and others]Washington, DC :U.S. Nuclear Regulatory Commission, Office of Nuclear Regulatory Research, Division of Fuel, Engineering and Radiological Research,[2007]1 electronic text (5 volumes) HTML, digital, PDF fileTitle from title screen (viewed on Oct. 21, 2008)."Date published: December 2006.""NUREG/CR-6914.""LA-UR-06-3673"-V. 1.Includes bibliographical references.Nuclear pressure vesselsTestingNuclear power plantsTestingNuclear pressure vesselsTesting.Nuclear power plantsTesting.Dallman J1421373U.S. Nuclear Regulatory Commission.Division of Fuel, Engineering, and Radiological Research.Los Alamos National Laboratory.GPOGPOBOOK9910696858303321Integrated chemical effects test project3542393UNINA05621nam 2200721 a 450 991083005360332120210209153749.01-280-84763-897866108476310-470-61228-20-470-39449-81-84704-560-X(CKB)1000000000335563(EBL)700728(OCoLC)769341519(SSID)ssj0000204031(PQKBManifestationID)11172492(PQKBTitleCode)TC0000204031(PQKBWorkID)10176176(PQKB)10942675(MiAaPQ)EBC700728(MiAaPQ)EBC261981(Au-PeEL)EBL261981(OCoLC)936813926(PPN)188832394(EXLCZ)99100000000033556320060929d2007 uy 0engur|n|---|||||txtccrModeling, performance analysis and control of robot manipulators[electronic resource] /edited by Etienne Dombre, Wisama KhalilLondon ;Newport Beach, CA ISTEc20071 online resource (414 p.)Control systems, robotics and manufacturing seriesDescription based upon print version of record.1-905209-10-X Includes bibliographical references and index.Modeling, Performance Analysis and Control of Robot Manipulators; Table of Contents; Chapter 1. Modeling and Identification of Serial Robots; 1.1. Introduction; 1.2. Geometric modeling; 1.2.1. Geometric description; 1.2.2. Direct geometric model; 1.2.3. Inverse geometric model; 1.2.3.1. Stating the problem; 1.2.3.2. Principle of Paul's method; 1.3. Kinematic modeling; 1.3.1. Direct kinematic model; 1.3.1.1 Calculation of the Jacobian matrix by derivation of the DGM; 1.3.1.2. Kinematic Jacobian matrix; 1.3.1.3. Decomposition of the kinematic Jacobian matrix into three matrices1.3.1.4. Dimension of the operational space of a robot1.3.2. Inverse kinematic model; 1.3.2.1. General form of the kinematic model; 1.3.2.2. Inverse kinematic model for the regular case; 1.3.2.3. Solution at the proximity of singular positions; 1.3.2.4. Inverse kinematic model of redundant robots; 1.4. Calibration of geometric parameters; 1.4.1. Introduction; 1.4.2. Geometric parameters; 1.4.2.1. Geometric parameters of the robot; 1.4.2.2. Parameters of the robot's location; 1.4.2.3. Geometric parameters of the end-effector; 1.4.3. Generalized differential model of a robot1.4.4. Principle of geometric calibration1.4.4.1. General form of the calibration model; 1.4.4.2. Identifying the geometric parameters; 1.4.4.3. Solving the identification equations; 1.4.5. Calibration methods of geometric parameters; 1.4.5.1. Calibration model by measuring the end-effector location; 1.4.5.2. Autonomous calibration models; 1.4.6. Correction of geometric parameters; 1.5. Dynamic modeling; 1.5.1. Lagrange formalism; 1.5.1.1. General form of dynamic equations; 1.5.1.2. Calculation of energy; 1.5.1.3. Properties of the dynamic mode; 1.5.1.4. Taking into consideration the friction1.5.1.5. Taking into account the inertia of the actuator's rotor1.5.1.6. Taking into consideration the forces and moments exerted by the end-effector on its environment; 1.5.2. Newton-Euler formalism; 1.5.2.1. Newton-Euler equations linear in the inertial parameters; 1.5.2.2. Practical form of Newton-Euler equations; 1.5.3. Determining the base inertial parameters; 1.6. Identification of dynamic parameters; 1.6.1. Introduction; 1.6.2. Identification principle of dynamic parameters; 1.6.2.1. Solving method; 1.6.2.2. Identifiable parameters; 1.6.2.3. Choice of identification trajectories1.6.2.4. Evaluation of joint coordinates1.6.2.5. Evaluation of joint torques; 1.6.3. Identification model using the dynamic model; 1.6.4. Sequential formulation of the dynamic model; 1.6.5. Practical considerations; 1.7. Conclusion; 1.8. Bibliography; Chapter 2. Modeling of Parallel Robots; 2.1. Introduction; 2.1.1. Characteristics of classic robots; 2.1.2. Other types of robot structure; 2.1.3. General advantages and disadvantages; 2.1.4. Present day uses; 2.1.4.1. Simulators and space applications; 2.1.4.2. Industrial applications; 2.1.4.3. Medical applications; 2.1.4.4. Precise positioning2.2. Machine typesThis book presents the most recent research results on modeling and control of robot manipulators.Chapter 1 gives unified tools to derive direct and inverse geometric, kinematic and dynamic models of serial robots and addresses the issue of identification of the geometric and dynamic parameters of these models.Chapter 2 describes the main features of serial robots, the different architectures and the methods used to obtain direct and inverse geometric, kinematic and dynamic models, paying special attention to singularity analysis.Chapter 3 introduces globalControl systems, robotics and manufacturing series.RoboticsManipulators (Mechanism)Robotics.Manipulators (Mechanism)629.8/933629.892629.8933Dombre E(Etienne)893784Khalil W(Wisama)893783MiAaPQMiAaPQMiAaPQBOOK9910830053603321Modeling, performance analysis and control of robot manipulators2279468UNINA