Use of symbolic computation in robotics education

Vira, Naren; Tunstel, Edward

doi:10.1109/13.123413

Cited by 17 publications

(6 citation statements)

References 6 publications

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“…where, "Beq" is motor damping constant and c 2 =cos(θ 2 ). We can represent 1   in terms of 2   from equation (2) and substitute it in equation 1…”

Section: Unstable Internal Dynamicsmentioning

confidence: 99%

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Role of Automated Symbolic Generation of Plant Models in Control Education

Tripathi

Shah

Lee

et al. 2010

ASME 2010 Dynamic Systems and Control Conference, Volume 2

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A critical precursor to deployment of model-based controllers for articulated-mechanical-systems is availability of a systematic means for generating plant-model-equations. However, the complexity and tractability of generating and analyzing models serves to limit the size of the chosen examples. Hence, we examine the use of contemporary symbolic-computation tools to assist with the automated symbolic equation generation and subsequent analysis to support control systems course work. In particular, we seek to establish linkage between traditional-approach and block-diagram-based symbolic-modeling and controller-development. The Furuta Pendulum example allows us to showcase the emergence of model-complexity, even in relatively-simple two-jointed mechanical system, while studying various aspects of model-creation, model-linearization and model-based controller development in a timely manner.

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“…where, "Beq" is motor damping constant and c 2 =cos(θ 2 ). We can represent 1   in terms of 2   from equation (2) and substitute it in equation 1…”

Section: Unstable Internal Dynamicsmentioning

confidence: 99%

“…MACSYMA [1] was one of the first attempts towards symbolic manipulation. There have been many efforts to analyze various robotic systems using these tools [2]. Despite these efforts, this technology remained inaccessible to the beginner level students.…”

Section: Introductionmentioning

confidence: 99%

Role of Automated Symbolic Generation of Plant Models in Control Education

Tripathi

Shah

Lee

et al. 2010

ASME 2010 Dynamic Systems and Control Conference, Volume 2

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“…There are several works in this area, Wedeward [3], have focused on middle to high school students and have also developed comprehensive software programs utilizing mobile robotics as an educational tool for undergraduate [4] and graduate courses [5]. Most of these works are designed for simulator based education and do not provide any support to real time control of robot [6]. During in recent years, accessibility of small inexpensive mobile robots and low cost manipulators encourage attention of student to robotic as a multidisciplinary science in engineering education.…”

Section: Introductionmentioning

confidence: 99%

“…The introductory courses focus on two key issues, namely technology-related robotics and theoretical fundamentals of robotics. The first course stresses industrial robot applications and the second includes the theoretical fundamentals of robotics [6]. The proposed tool matches in second category and supports introduction subjects.…”

Section: Introductionmentioning

confidence: 99%

An Educational Software for Low Cost Manipulators

Güzel¹

2018

IJRET

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This study addresses the development of a novel educational tool for robotics education which can be used both in graduate and undergraduate introductory robotics courses. The tool both supports simulator and real controller mode. The tool has flexible characteristics that can be both used by commercial robotic research projects and also for educational issues. The flexibility of the proposed tool also lets researchers developing further modules within the software based on their research problems. The tool will be used in Ankara University for introductory robotic course during next semester. The aspect and software architecture are presented and the details of course curriculum, tool operation modes, learning objectives and software architecture are discussed in details. Finally, projects previously developed and implemented by the tool will be summarized in order to reveal the capacity of the tool.

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“…Vibet demonstrated the symbolic tool FORM [4], which automatically generates the dynamic equations of the manipulator. The MACSYMA tool was then introduced to mechanical engineering education [5], providing the steps for determining a system dynamics model, but it does not support online simulations that integrate both system models and control rules.…”

Section: Introductionmentioning

confidence: 99%

Decomposition and Cross-Product-Based Method for Computing the Dynamic Equation of Robots

Shih

Lee

2012

International Journal of Advanced Robotic Systems

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This paper aims to demonstrate a clear relationship between Lagrange equations and Newton‐Euler equations regarding computational methods for robot dynamics, from which we derive a systematic method for using either symbolic or on‐line numerical computations. Based on the decomposition approach and cross‐product operation, a computing method for robot dynamics can be easily developed. The advantages of this computing framework are that: it can be used for both symbolic and on‐line numeric computation purposes, and it can also be applied to biped systems, as well as some simple closed‐chain robot systems

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Use of symbolic computation in robotics education

Cited by 17 publications

References 6 publications

Role of Automated Symbolic Generation of Plant Models in Control Education

Role of Automated Symbolic Generation of Plant Models in Control Education

An Educational Software for Low Cost Manipulators

Decomposition and Cross-Product-Based Method for Computing the Dynamic Equation of Robots

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