On dynamics simulation of 3 DOF manipulator

Design of a controller for wheeled mobile robots based on automatic movement sequencing

“…This means that the relative orientation of the robot depends on the speed of the wheels, which when rotating at the same speed do not generate a variation in position and when increasing the speed in one of them also does it the tendency towards a direction, as shown in Figure 2 (b) [18]. More specifically, to determine the robot position, mathematical transformations based on the robot reference frames are used, where the path of wheel 1 and 2 are represented by (1), the form of the average path by (2) and the orientation by is constructed by subtracting two coordinates and taking into account the wheel spacing in (3) [19]. It is worth noting that there are other ways to determine the orientation of a robot, such as; measurement with a GPS, digital goniometers or gyroscopes.…”

“…A robot is basically a system that performs one or more tasks automatically, which increases the level of precision and accuracy that a human being achieves when performing high-risk, heavy or repetitive activities. For example, virtual assistants that help online users or robotic manipulators that perform welding tasks in automotive manufacturing lines [1][2][3][4]. As can be seen, the robot definition is not only applied to designate prototypes with mechanical and electrical parts, but also to designate virtual prototypes that have a digital representation or are available in computer systems.…”