Sharif Digital Repository / Sharif University of Technology
    • [Zoom In]
    • [Zoom Out]
  • Page 
    		 of  0
  • [Next Page]
  • [Previous Page]
  • [Fullscreen view]
  • [Close]
 
Selective preparation of fluorescent 1,8-naphthalimides using acidic alumina under microwave irradiation [electronic resource]
Pourjavadi, A. (Ali)

Cataloging brief

Selective preparation of fluorescent 1,8-naphthalimides using acidic alumina under microwave irradiation [electronic resource]
Author :   Pourjavadi, A. (Ali)
Publisher :  
Pub. Year  :  
Subjects :   Fluorescent 1,8-naphthalimides Acidic Alumina
Call Number :  

Find in content

sort by

Bookmark

  • Chapter 1 (12)
    • 1.1 Control of robots in contact tasks (12)
    • 1.2 Classification of constraint motion (13)
    • In recent years different control strategies have been proposed on the problem of controlling the compliant motion. Various cr (13)
      • 1.2.1 Passive compliance (14)
      • 1.2.2 Active compliance (14)
        • 1.2.2.1 Hybrid position/force control (14)
        • 1.2.2.2 Impedance control (15)
    • 1.3 Objective of the study (20)
    • 1.4 Organization of thesis (21)
    • 1.5 Summary (21)
  • Chapter 2 (22)
    • 2.1 Introduction (22)
    • 2.2 What is impedance control? (22)
      • 2.2.1 Torque-based impedance control (26)
      • 2.2.2 Position-based impedance control (27)
    • 2.3 Impedance control and force tracking (28)
    • 2.4 Review of impedance control and force tracking (29)
    • 2.5 Summary (33)
  • Chapter 3 (34)
  • The Electrical PUMA560 Robot (34)
    • 3.1 Description of manipulator (34)
    • 3.2 Kinematics of PUMA 560 (35)
    • where, . (40)
    • 3.3 Dynamic model of PUMA 560 (40)
      • 3.3.1 Dynamic characteristic of PUMA 560 (41)
    • 3.4 PUMA 560 actuation system (42)
    • 3.5 Simulation program (45)
    • 3.6 Summary (45)
  • Chapter 4 (46)
  • The Application of Position-Based Impedance Control to PUMA 560 Manipulator (46)
    • 4.1 Introduction (46)
    • 4.2 Position-Based Impedance Control structure (46)
    • 4.3 Nonlinear PID position controller (49)
      • 4.3.1 Applying conventional PID controllers (49)
      • 4.3.2 Modified rate-varying integral (52)
  • Chapter 5 (63)
    • 5.1 Introduction (63)
    • 5.2 Force tracking in impedance control (63)
    • 5.3 Neuro-Fuzzy system (66)
      • 5.3.1 Fuzzy system (67)
      • 5.3.2 Neural Network (68)
      • 5.3.3 Adaptive Network-based Fuzzy Inference System (ANFIS) architecture (69)
        • 5.3.3.1 Basic learning rule (70)
      • 5.3.4 Architecture of ANFIS (72)
      • 5.3.5 Hybrid learning procedure for ANFIS (74)
    • 5.4 Applying the ANFIS to the PBIC for the purpose of force tracking (77)
    • 5.5 Comparison of the proposed method with the previous works (90)
    • 5.6 Summary (92)
  • Chapter 6 (93)
Loading...