Interpreter based interactive robot simulator to realize dynamics effects caused by robot kinematic actions

Haneda, A.; Okada, Kei; Inaba, Masayuki

doi:10.1109/icma.2008.4798894

Cited by 1 publication

(1 citation statement)

References 9 publications

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“…At linearly independent joints (for example an XYZ Cartesian TTT organized 3 DOF milling machine) the usual control method is the implementation of inverse kinematics (decentralized control method). [1] [2] With decentralized control method the masses and inertias of the segments do not have significant effects on each other (they have effects just on the position and the orientation of TCP). (They are linearly independent.)…”

Section: Introductionmentioning

confidence: 99%

Variable Robot Geometry Optimization Method to Avoid Tip Over Situations During Slow Motion on Unknown Terrains

Tajti¹,

Kovács²,

Szayer³

et al. 2016

AARMS

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This paper presents a parametrized stability control method for special slow motion field mobile robots, based on use cases from border surveillance. The concept uses the centre of gravity (COG) as the virtual centre of motion (VCM). The simplified robot geometry is an input parameter of the model, so it can work with different types of mobile robots, like holonomic-wheeled, differential-wheeled, steered, tracked, wheeled-tracked, segmented, etc. structures. This method resulted in the implementation of a flexible and universal control algorithm for transformable and hybrid drive mobile robots, where every parameter can be changed and recalculated for different applications or even in discrete time steps during the motion at a 3D path. The velocity reference, the angular velocity reference and the optimization parameter (for example gravity compensation) of the robot can be prescribed. The model was implemented in MATLAB and can be compiled to C for measurements and validation with test robots.

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Section: Introductionmentioning

confidence: 99%