A numerical dynamic behaviour model for 3D contact problems with friction

Pop, Nicolae; Vlădăreanu, Luige; Popescu, Ileana Nicoleta; Ghiţă, Constantin; Gal, Alexandru; Cang, Shuang; Yu, Hongnian; Bratu, Vasile; Deng, Mingcong

doi:10.1016/j.commatsci.2014.05.072

Cited by 33 publications

(15 citation statements)

References 22 publications

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“…The chosen method that adapts well to walking robots is the ZMP (Zero Moment Point) method [9,11,14]. A new strategy is developed for the dynamic control for walking robot stepping using ZMP and inertial information.…”

Section: Strategy For Dynamic Walking Robot Controlmentioning

confidence: 99%

Dynamic Control of a Walking Robot Using the Versatile Intelligent Portable Robot Platform

Vlădăreanu

Boscoianu

Munteanu

et al. 2015

2015 20th International Conference on Control Systems and Computer Science

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This paper studies the walking robot hybrid dynamic control in real time in order to increase movement stability of walking robots on flat terrain, with obstacles or uneven ground, at constant or variable walking speed and variable load. The motion trajectory positions of the robot leg end-effector and joints, reaction forces and the walking robot dynamics are analyzed and the virtual projection method is adopted using the Versatile Intelligent Portable Robot Platform VIPRO. The obtained results lead to higher performance in relation to the walking robots movement possibilities, the real-time robot balance control, gait control and predictable motion control, providing increased mobility and stability, and also the development of new technological capabilities of the control systems.Keywords-walking robot control; robot hybrid control; virtual projection method; stability of walking robots; versatile, intelligent, portable robot control.

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Section: Strategy For Dynamic Walking Robot Controlmentioning

confidence: 99%

Dynamic Control of a Walking Robot Using the Versatile Intelligent Portable Robot Platform

Vlădăreanu

Boscoianu

Munteanu

et al. 2015

2015 20th International Conference on Control Systems and Computer Science

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“…The models of kinematics or dynamic system in the general case of systems that depend on parameters assure, by its properties, the mathematical characterization of the environment. Any system is expressed in terms of relevant parameters as geometrical parameters, physical parameters (in particular mechanical parameters), possible chemical, biological, economical, etc, [1][2][3][4][5][6][10][11][12]. The important property of the dynamic system evolution models that approach the phenomenon from the environment is property of separation between stable and unstable regions from the free parameters domain of the system.…”

Section: Introductionmentioning

confidence: 99%

“…This property is proposed that define the environment's mathematical model. The mathematical conditions on the linear dynamic system matrix components that assure the separation between stable and unstable regions from the free parameters domain of the system are formulated [7][8][9]. In the second part of the exposure is described our walking robot evolution kinematics model and corresponding dynamic model with application on particular case of walking robot leg.…”

Section: Introductionmentioning

confidence: 99%

The walking robots critical position of the kinematics or dynamic systems applied on the environment model

Migdalovici¹,

Vlădăreanu²,

Yu³

et al. 2018

IJET

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The exposure is dedicated in the first to mathematical modeling of the environment where the aspects on the walking robots evolution models are described. The environment’s mathematical model is defined through the models of kinematics or dynamic systems in the general case of systems that depend on parameters. The important property of the dynamic system evolution models that approach the phenomenon from the environment is property of separation between stable and unstable regions from the free parameters domain of the system. Some mathematical conditions that imply the separation of stable regions from the free parameters domain of the system are formulated. In the second part is described our idea on walking robot kinematics and dynamic models with aspects exemplified on walking robot leg. An inverse method for identification of possible critical positions of the walking robot leg is established.

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“…It also refers to the development of a novel algorithm, in the case of walking robots [16], for the detection of motion-related state transitions in stick-slip motion.…”

Section: Relevant Workmentioning

confidence: 99%

Simulating robotic manipulation of cabling and interaction with surroundings

Papacharalampopoulos

Aivaliotis

Makris

2018

Int J Adv Manuf Technol

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The manipulation of non-rigid parts, particularly cabling structures, such as the cable harness, raises various issues that require dealing with complex modeling. The first important issue is the prediction of the shape of flexible parts itself. Also, addressing collision detection problems is of high importance. However, both are computationally intensive problems, as well as coupled. More specifically, regarding modeling, the structure of a harness can affect the mechanics (regardless of whether it is modeled like a cable). In this paper, such phenomena have been taken into account. What is more, collision detection between cables and rigid bodies is performed, regarding a quasi-static approach. Furthermore, cable-cable interaction cases are also addressed with the herein presented algorithm. A methodology, based on the geometrical characteristics of a cable, is given, and illustration from implementation in a commercial software is discussed. The simulation of an industrial case of assembling cabling harness in automotive sector is used to prove the usability of the algorithm and the modeling.

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A numerical dynamic behaviour model for 3D contact problems with friction

Cited by 33 publications

References 22 publications

Dynamic Control of a Walking Robot Using the Versatile Intelligent Portable Robot Platform

Dynamic Control of a Walking Robot Using the Versatile Intelligent Portable Robot Platform

The walking robots critical position of the kinematics or dynamic systems applied on the environment model

Simulating robotic manipulation of cabling and interaction with surroundings

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