In this paper we present the implementation of a Cartesian impedance control method to regulate the interaction forces between a robotic arm and the environment. A complete description of the procedure to model and control both a two-link planar robot arm and its interaction with the environment is detailed and simulated using MATLAB/Simulink; from the generation of a mechanical model in SimMec...

Trajectory tracking is a crucial aspect of controlling nonlinear systems and an important area research. Researchers have proposed several strategies to perform this task in the presence perturbations, which are sum system’s uncertainty, modeling errors, external disturbances. Nonlinear systems, such as robot manipulators, complex dynamics, deriving their exact mathematical models tedious task....

Robot manipulators have complex dynamics and are affected by significant uncertainties external disturbances (perturbations). Consequently, determining the exact mathematical model of a robot manipulator is tedious task. Accordingly, accurate trajectory tracking dominant feature in design position control for manipulators. The main objective this research to robust despite absence an model. For...

For the carrying lower extreme exoskeleton system is non-linear and have variable parameters, which is usually subject to external dusturbances. The virtual torque control method is a well-established carrying system control technique, which needs no sensors between the pilot and the human-machine interface, instead, the controller estimates, based on measurements from the exoskeleton suits onl...

This paper deals with the development of a low cost self-balancing vehicle aimed to be used as a teaching tool. Matlab/Simulink tools intensively supported the development process. According to the model-based design approach, an electro-mechanical model was created as an initial step. The mechanical part was implemented into SimMechanics, and a DC motor was considered as a static system. Next,...

In the process of tightening up and screwing off the iron roughneck, it is required that the center of clamping pliers and the center of drill pipe are coincident, so as to avoid the damage of the circular guide in clamping system, and to ensure the iron roughneck work normally. While the traditional method of centering is artificial in iron roughneck, its precision is low, so it is easy to dam...

High speed trains permit faster travelling between long distance destinations, making it an easy and comfortable way of travelling. The pantograph is the element of the train that collects electrical current from the cable system above (the catenary), to the train motors. The contact force variation can cause contact losses, electric arc formations and sparking. This deteriorates the quality of...

An optimal simulation 3D model for full-body upright reaching movements was developed using graphic-based modelling tools (SimMechanics) to generate an inverse dynamics model of the skeleton and using parameterisation methods for a sensory motor controller. The adaptive weight coefficient of the cost function based on the final motor task error (i.e. distance between end-effector and target at ...

This paper presents an alternate form for the dynamic modelling of a mechanical system that simulates in real life a gantry crane type, using Euler’s classical mechanics and Lagrange formalism, which allows find the equations of motion that our model describe. Moreover, it has a basic model design system using the SolidWorks software, based on the material and dimensions of the model provides s...