This paper proposes an approach to improve the cost-effectiveness of the control of variable speed drives in the robotics field. This could be achieved by the association of brushless DC motors (BLDCM)with a reduced structure DC/AC converter that is the three-switch inverter (TSI) equipping a robot arm. In a first step, we devoted the analysis, modelisation and control of a three-switch inverte...

Arvand is a robot specially designed and constructed for playing soccer according to RoboCup rules and regulations for the medium size robots This robot consists of three main parts mechanics motion and kicker hardware image acquisition processing and control unit and software image process ing motion control and decision making The motion mechanism is based on a drive unit a steer unit and a c...

In 2006 a team of undergraduates, including ourselves, developed a software simulation of a two-wheel differential drive robot capable of exploring an unknown environment and building an internal map of its surroundings. This generated map could then be used by the virtual robot to find the shortest path to a target location. This simulation formed the basis of a project undertaken in the summe...

A young designer of the wheeled mobile robot has to answer a wide range of questions before making a final decision to build a prototype. The basic problem is to define an appropriate drive and type of construction. At this stage, the young designers usually duplicate ready-made solutions, however, in general uses an inappropriate drive. The robot behaves correctly only after several failed des...

A practical architecture, using a four-bar-linkage, is considered for the University of Minnesota direct drive rotot1. This statically-balanced direct drive robot has been constructed for stability analysis of the robot in constrained maneuvers.2-6 As a result of the elimination of the gravity forces (without any counter weights), smaller actuators and consequently smaller amplifiers were chose...

In this paper the second version of the omnidirectional mobile robot with steerable omnidirectional wheels (OMR-SOW) is presented. This robot can operate in either the omnidirectional or the differential drive mode depending on the drive conditions. In the omnidirectional mode, it has 3 DOFs in motion and 1 DOF in steering which can function as a continuously-variable transmission (CVT). The CV...

Along with the science and technology unceasing progress, the uses of tracing robots become more and more widely. Tracked tracing robot was adopted as the research object in this paper, mechanical structure and control system of robot was designed and developmented. In mechanical structure design part, structure designed and positioned were completed, including design of robot body, wheel, unde...

It is important to recall that humanoid robot technology derives from the technology of industrial robots. It is obvious that the developments of bipedal robots such as the integration of robot-upper limbs to complex anthropomorphic structures have benefited from progress in mechanical structures, sensors and actuators used in industrial robot-arms. A direct link is sometimes made between the t...

Omnidirectional mobile robots are capable of arbitrary motion in an arbitrary direction without changing the direction of wheels because they can perform 3-DOF motions on a plane. This paper presents a novel mobile robot design with steerable omnidirectional wheels. This robot can operate in either omnidirectional or differential drive modes, depending on the drive conditions. In the omnidirect...

A stBtlCBl-l-y-bBI-Bnced direct drive robot monlpul-otor with new Brchltecture Is constructed Bt the University of MlnnesotB for stBbll-lty BnBl-ysls of ImpedBnce Control[8,10,11). This mechBnlsm, using B four-bar-l-lnkage, Is designed Without extra counterweights. As B resul-t of the el-lmlnBtlon of the gravity forces on the drive system, smBl-l-er Bctuators [Bnd consequentl-y smBl-l-er Bmpi-i...