نتایج جستجو برای: robot dynamics
تعداد نتایج: 539506 فیلتر نتایج به سال:
Cooperative arms are two or more arms in series which assume the structure of a parallel robot on account of gripping an intermediary object, and are commonly used in accurate assembly industries, coaxialization, movement of object, etc. Gripping an intermediary object is one of the complicated subjects in analysis of cooperative arms, whose analysis is mostly dependent upon the manner the obje...
Predictability is an important factor for generating object manipulation motions. In this paper, the authors present a technique to generate autonomous object pushing motions based on object dynamics consistency, which is tightly connected to reliable predictability. The technique first creates an internal model of the robot and object dynamics using Recurrent Neural Network with Parametric Bia...
in this paper, a robust integral of the sign error (rise) feedback controller is designed for a rigid-link electrically driven (rled) robot manipulator actuated by direct current dc motor in presence of parametric uncertainties and additive disturbances. rise feedback with implicitly learning capability is a continuous control method based on the lyapunov stability analysis to compensate an add...
In this paper, a novel tacking control approach is proposed for real-time navigation of a nonholonomic mobile robot. The proposed tracking controller is based on the error dynamics analysis of the mobile robot and a neural dynamics model derived from Hodgkin and Huxley’s membrane model of a biological system. The stability of the control system and the convergence of tracking errors to zeros ar...
In this study, the dynamics and control aspects of a spherical robot rolling without slipping on an inclined plane are investigated. The planar dynamic model of the robot rolling ahead on an inclined plane is derived using Lagrangian dynamics. Based on the equivalent control method and Lyapunov stability theorem, a decoupled sliding mode control approach is presented for stable control of the p...
A neural network (NN)-based adaptive controller with an observer is proposed for the trajectory tracking of robotic manipulators with unknown dynamics nonlinearities. It is assumed that the robotic manipulator has only joint angle position measurements. A linear observer is used to estimate the robot joint angle velocity, while NNs are employed to further improve the control performance of the ...
This thesis describes a model to replicate the dynamics of a walking robot inside USARSim. USARSim is an existing 3D simulator based on the Unreal Engine, which provides facilities for good quality rendering, physics simulation, networking, a highly versatile scripting language, and a powerful visual editor. To model the dynamics of a walking robot the balance of the robot in relation with the ...
Many of the processes involved into the synthesis of human motion have much in common with problems found in robotics research. This paper describes the modeling and the simulation of a novel bipedal robot based on Series Elastic Actuators (SEAs) [1]. The robot model takes inspiration from the human musculoskeletal organization. The geometrical organization of the robot artificial muscles is ba...
in this project guidance and control of underwater robot, including three engines and propeller attached to it, by fuzzy control has been investigated. fuzzy control is done based on human experience and requiered laws. the robot can also be controlled and guided by the user. this robot may be used in sea or swimming pool environment for finding goal point and locate in desired direction. in ad...
This paper addresses the dynamics and control of di rect drive robots with positive joint torque feedback We analytically derive the system dynamics in closed form Even though it is coupled and nonlinear in gen eral it is substantially simpler than the robot link dy namics We also derive conditions on the robot con g uration which result in linear dynamics Motion con trol laws for both cases ar...
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