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Journal articles on the topic 'Robots Mathematical models'

Author: Grafiati

Published: 10 December 2022

Last updated: 31 July 2025

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1

Korendiy, Vitaliy. "Generalized design diagram and mathematical model of suspension system of vibration-driven robot." Ukrainian Journal of Mechanical Engineering and Materials Science 7, no. 3-4 (2021): 1–10. http://dx.doi.org/10.23939/ujmems2021.03-04.001.

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Problem statement. Mobile robotic systems are widely used in various fields of industry and social life: from small household appliances to large-size road-building machinery. Specific attention of scientists and designers is paid to the vibration-driven locomotion systems able to move in the environments where the use of classical wheeled and caterpillar robots is impossible or inefficient. Purpose. The main objective of this paper consists in generalizing the actual research results dedicated to various design diagrams and mathematical models of suspension systems of mobile vibration-driven

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Mammadova, K. A. "Mathematical Modeling and Simulation of Robotic Dynamic Systems." Herald of Azerbaijan Engineering Academy 14, no. 4 (2022): 93–106. https://doi.org/10.52171/2076-0515_2022_14_04_93_106.

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The mathematical model of the robot generally consists of a nonlinear multi-link system, so varioussimplifications are used in the analysis of its properties. In particular, linear models of robots and controlsystems are commonly used to study the controllability and robustness of robots. In this case, linearmodels are built on the edges of the actions of the robot or system, the properties of which must bestudied. Therefore, in order to build linear models of a robot and its control system, it is first necessary tofind the fixed equations of a particular robot, as well as its control system a

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Matuliauskas, Arvydas, and Bronislovas Spruogis. "PIPELINE ROBOTS WITH ELASTIC ELEMENTS." TRANSPORT 17, no. 5 (2002): 177–81. http://dx.doi.org/10.3846/16483840.2002.10414039.

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In the article constructions of the pipeline robots with elastic elements are reviewed and the scheme of new original construction is presented. The mathematical models of a robot with one-dimensional vibration exciter with two degrees of freedom were developed and the equations of movement were formed and written. The mathematical model of the pipeline robot with circular elements is formed and its motion equations are presented.

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Chen, Qiang. "Research on Safety Control Technology for Dual Robots Based on Kinematic Models." Automation, Control and Intelligent Systems 12, no. 1 (2024): 15–21. http://dx.doi.org/10.11648/j.acis.20241201.12.

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The industrial robots play an important role in modern industrial manufacturing processes, and their applications are becoming increasingly widespread, greatly improving manufacturing efficiency and significantly enhancing the digitalization level of the manufacturing industry. Therefore, achieving safe control of multi robot collaborative work is of great significance for the stable and efficient operation of robot systems. This article proposes a dual robot safety control technology based on the kinematic model of industrial robots. Firstly, a mathematical model of the kinematic space of the

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Jiménez, Francisco Cuenca, Eusebio Jiménez López, Mario Acosta Flores, Francisco Ramón Peñuñuri Anguiano, Ricardo Javier Peón Escalante, and Juan José Delfín Vázquez. "Methodology for Modeling Coupled Rigid Multibody Systems Using Unitary Quaternions: The Case of Planar RRR and Spatial PRRS Parallel Robots." Robotics 14, no. 7 (2025): 94. https://doi.org/10.3390/robotics14070094.

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Quaternions are used in various applications, especially in those where it is necessary to model and represent rotational movements, both in the plane and in space, such as in the modeling of the movements of robots and mechanisms. In this article, a methodology to model the rigid rotations of coupled bodies by means of unit quaternions is presented. Two parallel robots were modeled: a planar RRR robot and a spatial motion PRRS robot using the proposed methodology. Inverse kinematic problems were formulated for both models. The planar RRR robot model generated a system of 21 nonlinear equation

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Moshayedi, Ata Jahangir, Atanu Shuvam Roy, Sithembiso Khaya Sambo, Yangwan Zhong, and Liefa Liao. "Review On: The Service Robot Mathematical Model." EAI Endorsed Transactions on AI and Robotics 1 (February 23, 2022): 1–19. http://dx.doi.org/10.4108/airo.v1i.20.

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After nearly 30 years of development, service robot technology has made important achievements in the interdisciplinary aspects of machinery, information, materials, control, medicine, etc. These robot types have different shapes, and mainly in some are shaped based on application. Till today various structure are proposed which for the better analysis’s need to have the mathematical equation that can model the structure and later the behaviour of them after implementing the controlling strategy. The current paper discusses the various shape and applications of all available service robots and

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Golubev, Yu F. "Getting over wide obstacles by the multi-legged robot." Doklady Rossijskoj akademii nauk. Matematika, informatika, processy upravleniâ 518, no. 1 (2024): 40–50. http://dx.doi.org/10.31857/s2686954324040078.

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An upper estimate of the maximum width of the forbidden zone for foot fulcrums, which a walking robot with many legs can overcome in static stability mode, is presented. Using the mathematical models of six-legged and four-legged robots, it is shown that the obtained estimate can't be improved. For this purpose, the sequences of the robot's foot placement have been formed, ensuring the achievement of the estimation meaning. The dependence of the maximum width of the zone on the length of the body was found for the six-legged robot model.

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Hernandez, Joannes Paulus Tolentino. "Compassionate Care with Autonomous AI Humanoid Robots in Future Healthcare Delivery: A Multisensory Simulation of Next-Generation Models." Biomimetics 9, no. 11 (2024): 687. http://dx.doi.org/10.3390/biomimetics9110687.

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The integration of AI and robotics in healthcare raises concerns, and additional issues regarding autonomous systems are anticipated. Effective communication is crucial for robots to be seen as “caring”, necessitating advanced mechatronic design and natural language processing (NLP). This paper examines the potential of humanoid robots to autonomously replicate compassionate care. The study employs computational simulations using mathematical and agent-based modeling to analyze human–robot interactions (HRIs) surpassing Tetsuya Tanioka’s TRETON. It incorporates stochastic elements (through neu

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Migdalovici, Marcel, L. Vladareanu, Hongnian Yu, et al. "The walking robots critical position of the kinematics or dynamic systems applied on the environment model." International Journal of Engineering & Technology 7, no. 2.28 (2018): 134. http://dx.doi.org/10.14419/ijet.v7i2.28.12896.

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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 r

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Cerrillo, Diego, Antonio Barrientos, and Jaime Del Cerro. "Kinematic Modelling for Hyper-Redundant Robots—A Structured Guide." Mathematics 10, no. 16 (2022): 2891. http://dx.doi.org/10.3390/math10162891.

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Obtaining mathematical equations to model the kinematics of a hyper-redundant robot is not intuitive and of greater difficulty than for traditional robots. Depending on the characteristics of the robot, the most appropriate methodology to approach the modelling may be one or another. This article provides a general overview of the different approaches there are when modelling a hyper-redundant cable-driven robot, while proposing a guide to help the novel researcher that approaches this field decide which methodology to apply when modelling a robot. After providing some definitions, a simple fr

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Dasanayake, Pubudu Suranga, Virginijus Baranauskas, Gintaras Dervinis, and Leonas Balasevicius. "A Review of Mathematical Models in Robotics." Applied Sciences 15, no. 14 (2025): 8093. https://doi.org/10.3390/app15148093.

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In robotics, much emphasis is placed on mathematical modeling, as the creation, control, and optimization of robots for a wide field of work must be achieved precisely and adaptively. The aim of this paper is to present a systematic and structured approach to the literature review of mathematical models in robotics, critically considering mathematical frameworks that influence and shape robotics in light of current and prevailing trends. The paper underlines the complexities of maintaining accurate dynamic representations in robotic systems, revealing the challenges that arise from numerical s

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Krakhmalev, O. N., D. I. Petreshin, and O. N. Fedonin. "Mathematical models for base calibration in industrial robots." Russian Engineering Research 37, no. 11 (2017): 995–1000. http://dx.doi.org/10.3103/s1068798x17110089.

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Qiu, Ning Jia, Ming Zhe Li, Zhen Sui, Cheng Xiang Zheng, Ren Jun Li, and Wei Yao. "Analysis and Synthesis of 6-DOF Robot Measurement Errors." Advanced Materials Research 718-720 (July 2013): 455–59. http://dx.doi.org/10.4028/www.scientific.net/amr.718-720.455.

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Robot motion accuracy plays a vital role in the production which makes use of industrial robots. This paper takes advantage of iterative algorithm to calibrate the robot joint parameters on the basis of setting up mathematical models of 6-DOF robot crossed technology on the mathematical model. It puts forward the method obtained by measuring the pose compared with the theoretical and the robot absolute posing deviation. It provides the basis of surface sheet metal precise scribing work on the next stage.

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Mavrogiannis, Christoforos. "Towards smooth mobile robot deployments in dynamic human environments." AI Magazine 45, no. 3 (2024): 419–28. http://dx.doi.org/10.1002/aaai.12192.

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AbstractRecently, there has been great interest in deploying autonomous mobile robots in airports, malls, and hospitals to complete a range of tasks such as delivery, cleaning, and patrolling. The rich context of these environments gives rise to highly unstructured motion that is challenging for robots to anticipate and adapt to. This results in uncomfortable and unsafe human–robot encounters, poor robot performance, and even catastrophic failures that hinder robot acceptance. Such observations have motivated my work on social robot navigation, the problem of enabling robots to navigate in hum

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Negrean, Iuliu, Claudiu Schonstein, Kalman Kacso, Calin Negrean, and Adina Duca. "Formulations about Dynamics of Mobile Robots." Solid State Phenomena 166-167 (September 2010): 309–14. http://dx.doi.org/10.4028/www.scientific.net/ssp.166-167.309.

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In this paper the dynamics equations for a mobile robot, named PatrolBot, will be developed, using new concepts in advanced mechanics, based on important scientific researches of the main author, concerning the kinetic energy. In keeping the fact that the mathematical models of the mobile platforms are different besides the other robots types, due to nonholonomic constraints, these dynamic control functions, will be computed, according to these restrictions for robot motion.

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Lin, Deng, Giovanni Mottola, Marco Carricato, and Xiaoling Jiang. "Modeling and Control of a Cable-Suspended Sling-Like Parallel Robot for Throwing Operations." Applied Sciences 10, no. 24 (2020): 9067. http://dx.doi.org/10.3390/app10249067.

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Cable-driven parallel robots can provide interesting advantages over conventional robots with rigid links; in particular, robots with a cable-suspended architecture can have very large workspaces. Recent research has shown that dynamic trajectories allow the robot to further increase its workspace by taking advantage of inertial effects. In our work, we consider a three-degrees-of-freedom parallel robot suspended by three cables, with a point-mass end-effector. This model was considered in previous works to analyze the conditions for dynamical feasibility of a trajectory. Here, we enhance the

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Korendiy, V., R. Predko, R. Stotsko, A. Kychma, O. Hrytsun, and A. Lisnichuk. "Modeling the dynamics of a capsule-type locomotion system actuated by an imbalanced rotor under the action of dry anisotropic friction." Mathematical Modeling and Computing 12, no. 1 (2025): 310–22. https://doi.org/10.23939/mmc2025.01.310.

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Mobile robotic systems with vibratory drives are becoming increasingly popular in various fields of industry and medicine. This article is dedicated to the study of the dynamic behavior of a mobile capsule-type robot equipped with an imbalanced vibration exciter. The research methodology involves constructing a simplified dynamic diagram of the robot's mechanical system, using Lagrange's equations of the second kind to describe its motion, and solving the obtained system of differential equations using numerical methods integrated into the Wolfram Mathematica software. The simulation results a

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Trefilov, S. A., and G. V. Khodyrev. "Development of a Mathematical Model of a Highly Maneuverable Robot for Simulation of Robots with Different Types of Designs." Vestnik IzhGTU imeni M.T. Kalashnikova 27, no. 3 (2024): 38–48. http://dx.doi.org/10.22213/2413-1172-2024-3-38-48.

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The article presents the results of developing a mathematical model and simulation modeling of a three-wheeled highly maneuverable mobile robot. A mathematical model of the robot in the state space has been developed. The possibility of using this robot with rotary modules for analyzing and testing control algorithms for robots of various designs has been considered. The relevance of the study is justified by the high costs of creating physical models of robots for experimental verification of control algorithms. The proposed three-wheeled mobile robot with rotary modules, where each wheel is

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Țîțu, Aurel Mihail, Vasile Gusan, Mihai Dragomir, Alina Bianca Pop, and Ștefan Țîțu. "Cost Calculation and Deployment Strategies for Collaborative Robots in Production Lines: An Innovative and Sustainable Perspective in Knowledge-Based Organizations." Sustainability 16, no. 13 (2024): 5292. http://dx.doi.org/10.3390/su16135292.

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This scientific paper explores the increasingly widespread use of collaborative and industrial robots in the industrial environment, highlighting them as a solution to challenges related to the high costs of human labor and associated management difficulties. The authors focus on the process of defining requirements for the implementation of collaborative and industrial robots, providing strategies based on mathematical management models. This approach translates into significant benefits for companies, such as cost reduction, quality improvement, and increased operational efficiency. Addition

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Wu, Hongzhong, Tenghui Xing, Weiqing Li, Hongbiao Chen, Yutao Kang, and Jiayang Li. "Robotic Scheduling Strategies based on Machine Learning Algorithm." Journal of Physics: Conference Series 2562, no. 1 (2023): 012025. http://dx.doi.org/10.1088/1742-6596/2562/1/012025.

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Abstract Recently, robot scheduling has been widely concerned by numerous companies and researchers. They adopt an intelligent algorithm to design scheduling strategies for automated guided vehicle (AGV) and achieve required moving routes and certain aims. However, the existing robot scheduling strategies employ mathematical program models to arrange robots’ control and ignore machine issues that the robots may have. This will cause conflict and may lead the whole robot to a deadlock when the scale of conflict reaches a critical point. In this paper, we present a novel scheduling strategy for

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Pengfei, Zhou, Oleksiy Kozlov, Oleksandr Gerasin, and Galyna Kondratenko. "Development of computerized monitoring and control system of the mobile robot’s positioning on large ferromagnetic surfaces based on intelligent techniques. Thesis and study of the mathematical model of a caterpillar mobile robot for vertical movement." Science Journal Innovation Technologies Transfer, no. 2019-2 (May 5, 2019): 36–45. http://dx.doi.org/10.36381/iamsti.2.2019.36-45.

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The article considers the synthesis and study of a mathematical model of a caterpillar mobile robot (MR) with separate main clamping magnets for moving and performing specified technological operations along inclined and vertical ferromagnetic surfaces. The authors have developed the mathematical models of MR's individual elements and the robot as a whole, taking into account the basic features of its structural design. The resulting mathematical model allows studying the MR’s behavior in different production conditions under spatial motion on an inclined surface and can be applied for further

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Góra, Krystian, Mateusz Kujawinski, Damian Wroński, and Grzegorz Granosik. "Comparison of Energy Prediction Algorithms for Differential and Skid-Steer Drive Mobile Robots on Different Ground Surfaces." Energies 14, no. 20 (2021): 6722. http://dx.doi.org/10.3390/en14206722.

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A detailed literature analysis depicts that artificial neural networks are rarely used for the power consumption estimation in the mobile robotics field. Instead, researchers prefer to develop analytical models of investigated robots. This manuscript presents a comparison of mathematical models and non-complex artificial neural networks in energy prediction tasks for differential and skid-steer drive robots which move over various types of surfaces. The results show that both methods could be used interchangeably but AI methods are more universal, do not depend on the kinematic structure of a

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ФІЛІППОВА, МАРИНА, МАРІЯ ДЕМЧЕНКО, ДЕНИС МИРЗА та ГАЛИНА БОГДАН. "АВТОМАТИЗОВАНА СИСТЕМА УПРАВЛІННЯ МАНІПУЛЯЦІЙНИМИ РОБОТАМИ". Herald of Khmelnytskyi National University. Technical sciences 341, № 5 (2024): 466–76. https://doi.org/10.31891/2307-5732-2024-341-5-68.

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The article deals with the development of an automated control system for manipulative robots based on a mathematical model and the use of an Android mobile device for remote control. The main goal of the study is to create a prototype of a robotic arm that can be controlled using wireless technology, which provides convenience and efficiency in real-time control. The 4-degree-of-freedom robotic arm was created and is controlled through a mobile application developed using MIT App Inventor, which is based on Bluetooth technology. Data from the application is transmitted serially via a Bluetoot

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Wang, Chuanwei, Saisai Wang, Hongwei Ma, et al. "Research on the Obstacle-Avoidance Steering Control Strategy of Tracked Inspection Robots." Applied Sciences 12, no. 20 (2022): 10526. http://dx.doi.org/10.3390/app122010526.

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Tracked inspection robots possess prominent advantages in dealing with severe environment rescue, safety inspection, and other important tasks, and have been used widely. However, tracked robots are affected by skidding and slipping, so it is difficult to achieve accurate control. For example, the control parameters of a tracked robot are the same during driving, but the pressure, shear force and steering resistance of the robot on the road surface are different, which affects the steering characteristics of the robot on complex terrain. Based on analysis of the structural parameters and steer

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Savin, S. I., and L. Yu Vorochaeva. "SIMULATION OF ANTHROPOMORPHIC ROBOTS WITH ELASTIC DRIVES BY INTRODUCING VIRTUAL LINKS." Proceedings of the Southwest State University 22, no. 3 (2018): 59–66. http://dx.doi.org/10.21869/2223-1560-2018-22-3-59-66.

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Anthropomorphic walking robots are among the most promising robot types, due to the possibility to introduce them into the urbane environment through the use of the existing infrastructure. Control systems developed for such robots require access to the exact mathematical models of these robots, taking into account the properties of actuators, gears and sensors. In this paper, we consider approaches to describing the model of a bipedal walking robot with elastic drives. The robot is a three-link mechanism that moves in the sagittal plane and performs verticalization (sit-to-stand transfer). Tw

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Trang, Thanh Trung, Wei Guang Li, and Thanh Long Pham. "A New Method to Solve the Kinematic Problem of Parallel Robots Using an Equivalent Structure." Applied Mechanics and Materials 789-790 (September 2015): 643–51. http://dx.doi.org/10.4028/www.scientific.net/amm.789-790.643.

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This paper proposed a new method to downgrade the kinematic mathematical model of parallel robots. A technique of complement mathematical models uses constraints to change the form of objective functions. An equivalent structure is used to replace the original structure of investigated robots. The difficulties encountered in solving problems having the transcendental form can be avoided by downgrading formula of the new mathematical model. The original formula which is usually in quaternary order can be downgraded to quadratic form. The main advantages of this method are understandable mathema

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Cuneo, J., L. Barboni, N. Blanco, M. del Castillo, and J. Quagliotti. "ARM-Cortex M3-Based Two-Wheel Robot for Assessing Grid Cell Model of Medial Entorhinal Cortex: Progress towards Building Robots with Biologically Inspired Navigation-Cognitive Maps." Journal of Robotics 2017 (2017): 1–9. http://dx.doi.org/10.1155/2017/8069654.

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This article presents the implementation and use of a two-wheel autonomous robot and its effectiveness as a tool for studying the recently discovered use of grid cells as part of mammalian’s brains space-mapping circuitry (specifically the medial entorhinal cortex). A proposed discrete-time algorithm that emulates the medial entorhinal cortex is programed into the robot. The robot freely explores a limited laboratory area in the manner of a rat or mouse and reports information to a PC, thus enabling research without the use of live individuals. Position coordinate neural maps are achieved as m

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Lee, Hai-Wu. "A study of the use of fuzzy control theory to stabilize the gait of biped robots." Robotica 34, no. 4 (2014): 777–90. http://dx.doi.org/10.1017/s0263574714001854.

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SUMMARYThis paper designs a biped robot to perform appropriate walking exercises according to the terrain, which then walks stably on a flat environment. The concept of fuzzy logic is combined with the Linear Quadratic Regulator (LQR) controller theory to design the best method to allow the biped robot system to have a balanced and stable gait. Traditional controllers are designed using mathematical models of physical systems, but a fuzzy controller is a physical system that uses an inexact mathematical model, which involves sets and membership functions. Fuzzy controllers use fuzzification, f

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Alexa, Octavian, Ticușor Ciobotaru, Lucian Ștefăniță Grigore, et al. "A Review of Mathematical Models Used to Estimate Wheeled and Tracked Unmanned Ground Vehicle Kinematics and Dynamics." Mathematics 11, no. 17 (2023): 3735. http://dx.doi.org/10.3390/math11173735.

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This paper presents mathematical models to estimate the kinematics and dynamics of wheeled and tracked robots. The models account for the physical–mechanical characteristics of the ground, the influence of the center of gravity displacement on the cornering moment of resistance, and the influence of the interaction of the crawler with the roadway. The results of the models are characterized by defining computational relationships for a robot’s equations of motion, longitudinal forces, transverse forces, and resistive turning moments generated via longitudinal forces and transverse forces.

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Jeyaraman, S., A. Tsourdos, R. Zbikowski, and B. A. White. "Kripke modelling of multiple robots with decentralized cooperation specified with temporal logic." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 219, no. 1 (2005): 15–31. http://dx.doi.org/10.1243/095965105x9506.

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Kripke models are used to formalize decentralized cooperation of a group of robots, to propose temporal logic specification of the cooperation, and to verify the correctness of the specification by checking the models. The focus is on implementing this mathematical formalism under minimalist communication and under constrained motion of the robots. Kripke models consist of, firstly, a of possible worlds (system configurations), secondly, an accessibility relation in the (transitions between the worlds), and, thirdly, a labelling function (which logical statements are true in each world). This

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Cao, Thanh Trung, Nguyen Hoai Nam, and Nguyen Doan Phuoc. "A model-free controller for uncertain robot manipulators with matched disturbances." Vietnam Journal of Science and Technology 61, no. 1 (2023): 166–76. http://dx.doi.org/10.15625/2525-2518/16840.

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Precise control is critical for robots, but it is difficult to obtain an accurate dynamic model of the robot due to the presence of modeling errors and uncertainties in the complex working environment, resulting in decreased control performances. The article proposes a method for designing a digital controller for output tracking of disturbed repetitive robot manipulators that does not require a mathematical model of the controlled robots, with the goal of improving tracking accuracy. This controller consists of two separate intelligent parts. The first part aims to stabilize the original robo

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Song, Yixing. "Application of Robotic Stereotactic Assisted Brain Surgery: A Summary Analysis." Highlights in Science, Engineering and Technology 134 (March 30, 2025): 88–93. https://doi.org/10.54097/rmyhz137.

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Robots are used in various fields, and their accuracy can make brain surgery more successful. Developing robot-assisted surgery could also allow doctors to perform more difficult-to-perform operations. This thesis briefly describes the principle of stereotaxic directional robot in brain surgery. The lesions of patients are identified through digital images by means of medical imaging, then located by computer processing and planned trajectory. Finally, the operation is completed by robotic arm. In the following, this paper focuses on the differences in the characteristics of its own trajectory

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Transeth, Aksel Andreas, Kristin Ytterstad Pettersen, and Pål Liljebäck. "A survey on snake robot modeling and locomotion." Robotica 27, no. 7 (2009): 999–1015. http://dx.doi.org/10.1017/s0263574709005414.

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SUMMARYSnake robots have the potential to make substantial contributions in areas such as rescue missions, firefighting, and maintenance where it may either be too narrow or too dangerous for personnel to operate. During the last 10–15 years, the published literature on snake robots has increased significantly. The purpose of this paper is to give a survey of the various mathematical models and motion patterns presented for snake robots. Both purely kinematic models and models including dynamics are investigated. Moreover, the different approaches to biologically inspired locomotion and artifi

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Muhamediyeva, D. K., and M. Fozilova. "Analysis of the base motion model of industrial robots moving." E3S Web of Conferences 402 (2023): 03050. http://dx.doi.org/10.1051/e3sconf/202340203050.

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Development of mathematical models and algorithms for optimal control of the functioning of industrial robots on a movable base to ensure the accuracy of the trajectory of movement and positioning is considered. An equation for the functioning of industrial robots on a movable base in the implementation of a complex spatial operation obtained and, on its basis, a mathematical model of optimal control is developed.

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Al-Khafaji, Israa M. Abdalameer, and Aleksandr Vladimirovich Panov. "Dynamic and mathematical modeling of wheeled ground robots for navigating rough terrain: development, simulation, and real-world validation." Вестник Донецкого национального университета. Серия Г: Технические науки, no. 3 (October 1, 2024): 35–44. https://doi.org/10.5281/zenodo.14018542.

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This article presents the development and validation of dynamic and mathematical models for wheeled ground robots navigating rough terrain, integrating simulations and real-world testing. Key findings demonstrate enhanced path accuracy, obstacle avoidance, and stability across various challenging environments. <strong><em>Keywords: </em></strong>dynamic model, mathematical model, wheeled ground robots, rough terrain, navigation, pathfinding algorithms, A* algorithm, simulation, real-world testing, obstacle avoidance.

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Pensky, Oleg G., Yuriy A. Sharapov, and Kirill V. Chernikov. "Mathematical Models of Emotional Robots with a Non-Absolute Memory." Intelligent Control and Automation 04, no. 02 (2013): 115–21. http://dx.doi.org/10.4236/ica.2013.42016.

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Pytel, Ivan, Maksym Vasylyk, and Jaroslaw Makal. "CALIBRATION METHODS OF INDUSTRIAL ROBOTS." Measuring Equipment and Metrology 85, no. 1 (2024): 35–41. http://dx.doi.org/10.23939/istcmtm2024.01.035.

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Robotization is one of the crucial directions of modernizing today's industrial production. Robotic systems offer solutions to many different challenges. However, their implementation is constrained by limited accuracy, which is inferior to conventional machine tools. A way to improve industrial robots' accuracy is to calibrate them, i.e., eliminate factors that affect accuracy by refining the mathematical models for software correction of manufacturing and assembly errors, as well as elastic and thermal deformations.

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Figovsky, Oleg L., and Oleg G. Pensky. "Robots, Digital Twins of People, Dialectical Models of Society and Economics." Economic Strategies 144 (September 20, 2020): 58–67. http://dx.doi.org/10.33917/es-5.171.2020.58-67.

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Current mathematical models of economics practically do not take into account the human factor when making management decisions and applying them to practice. Therefore, the creation of a mathematical theory of general human psychology, the dialectical development of human society and macroeconomics are becoming particularly relevant at present. This paper describes the main results of the mathematical modeling of psychological behavior, so-called digital twins, which are psychological analogs of people. Theorems explaining the dangers of artificial intelligence for people from the mentality p

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Wang, Ling, Bai Chen, Peng Wang, Sun Chen, Qian Yun Zhu, and Ya Juan Li. "Thrust Force Modeling of the Flagella-Like Swimming Micro-Robot." Applied Mechanics and Materials 461 (November 2013): 930–41. http://dx.doi.org/10.4028/www.scientific.net/amm.461.930.

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In this paper, helix tails with rectangular cross-section were designed for propelling a kind of flagella-like swimming robot. CFD (Computational Fluid Dynamics) software was applied to analyze the major influencing factors of the robots mechanical properties. It is revealed that the thrust reaches the maximum when the helix tails cross-section width is 0.36 times the diameter. Meanwhile, the helix tails should be designed according to the requirements with the largest diameter, close to but less than 45° helix angle and multi-turns under the limitation of the workspace. Combining these simula

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Schmickl, Thomas, Martina Szopek, Francesco Mondada, et al. "Social Integrating Robots Suggest Mitigation Strategies for Ecosystem Decay." Frontiers in Bioengineering and Biotechnology 9 (May 24, 2021): 250. https://doi.org/10.3389/fbioe.2021.612605.

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We develop here a novel hypothesis that may generate a general research framework of how autonomous robots may act as a future contingency to counteract the ongoing ecological mass extinction process. We showcase several research projects that have undertaken first steps to generate the required prerequisites for such a technology-based conservation biology approach. Our main idea is to stabilise and support broken ecosystems by introducing artificial members, robots, that are able to blend into the ecosystem's regulatory feedback loops and can modulate natural organisms' local densiti

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Maoudj, Abderraouf, Abdelfetah Hentout, Brahim Bouzouia, and Redouane Toumi. "On-Line Fault-Tolerant Fuzzy-Based Path Planning and Obstacles Avoidance Approach for Manipulator Robots." International Journal of Uncertainty, Fuzziness and Knowledge-Based Systems 26, no. 05 (2018): 809–38. http://dx.doi.org/10.1142/s0218488518500368.

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Manipulator robots are widely used in many fields to replace humans in complex and risky environments. However, in some particular environments the robot is prone to failure, resulting in decreased performance. In such environments, it is extremely difficult to repair the robot which interrupts the execution process. Therefore, fault tolerance plays an important role in industrial manipulators applications. In this paper, the key problems related to fault-tolerance and path planning of manipulator robots under joints failures are handled within an on-line fault-tolerant fuzzy-logic based path

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Al-Yacoub, Ali, Myles Flanagan, Achim Buerkle, et al. "Data-Driven Modelling of Human-Human Co-Manipulation Using Force and Muscle Surface Electromyogram Activities." Electronics 10, no. 13 (2021): 1509. http://dx.doi.org/10.3390/electronics10131509.

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With collaborative robots and the recent developments in manufacturing technologies, physical interactions between humans and robots represent a vital role in performing collaborative tasks. Most previous studies have focused on robot motion planning and control during the execution of the task. However, further research is required for direct physical contact for human-robot or robot-robot interactions, such as co-manipulation. In co-manipulation, a human operator manipulates a shared load with a robot through a semi-structured environment. In such scenarios, a multi-contact point with the en

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Svitlana, Maksymova, Abu-Jassar Amer, Gurin Dmytro, and Yevsieiev Vladyslav. "COMPARATIVE ANALYSIS OF METHODS FOR PREDICTING THE TRAJECTORY OF OBJECT MOVEMENT IN A COLLABORATIVE ROBOT-MANIPULATOR WORKING AREA." Multidisciplinary Journal of Science and Technology 4, no. 10 (2024): 5–15. https://doi.org/10.5281/zenodo.13904469.

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This article presents a comparative analysis of methods for predicting object movement trajectories in a collaborative robots-manipulator working area. The following approaches are evaluated: linear method, Kalman filter, extended Kalman filter (EKF), behavioral models and LSTM models. A mathematical description of each method is accompanied by an analysis of their advantages and disadvantages, including prediction accuracy, implementation complexity, and resource requirements. The results show that the choice of the method depends on the specifics of the task and the robot's operating conditi

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Zuev, A. S., and D. A. Leonov. "About managing the number of simultaneously functioning software robots of different types." Russian Technological Journal 12, no. 4 (2024): 7–22. http://dx.doi.org/10.32362/2500-316x-2024-12-4-7-22.

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Objectives. The study sets out to justify the relevance and investigate approaches for solving the problem of managing the number of simultaneously functioning software robots of various types under conditions of limited computational resources and changes in sets of executable tasks.Methods. A proposed solution is based on models and methods of scenario management, linear programming, inventory management, queuing theory, and machine learning. The described methods are valid for different compositions and preconditions for generating initial data, as well as ensuring the relevance horizons of

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Filomeno Amador, Luis Daniel, and Eduardo Castillo Castañeda. "Kinematic and dynamic analysis of an omnidirectional mobile platform driven by a spherical wheel." Mechanical Sciences 13, no. 1 (2022): 31–39. http://dx.doi.org/10.5194/ms-13-31-2022.

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Abstract. The increased use of spherical wheels has allowed mobile robots to have a higher degree of maneuverability, less complex path planning and less complex control schemes. The geometry and design of the mobile robot are the principal attributes that guarantee an omnidirectional motion. Furthermore, the platform uses an active spherical wheel and four passive spherical wheels to get the best stability when the robot uses a terminal element (Kärcher). The proposed model has been designed to improve the omnidirectional motion issues, such as vibration into the platform or lack of punctual

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Oshchepkova, N. V., and O. G. Pensky. "Mathematical Models of Dynamics of Emotional Robots’ Interest in Media Projects." Scientific and Technical Information Processing 50, no. 5 (2023): 459–63. http://dx.doi.org/10.3103/s014768822305012x.

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Raviola, Andrea, Roberto Guida, Andrea De Martin, Stefano Pastorelli, Stefano Mauro, and Massimo Sorli. "Effects of Temperature and Mounting Configuration on the Dynamic Parameters Identification of Industrial Robots." Robotics 10, no. 3 (2021): 83. http://dx.doi.org/10.3390/robotics10030083.

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Dynamic parameters are crucial for the definition of high-fidelity models of industrial manipulators. However, since they are often partially unknown, a mathematical model able to identify them is discussed and validated with the UR3 and the UR5 collaborative robots from Universal Robots. According to the acquired experimental data, this procedure allows for reducing the error on the estimated joint torques of about 90% with respect to the one obtained using only the information provided by the manufacturer. The present research also highlights how changes in the robot operating conditions aff

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POTKONJAK, VELJKO. "ROBOTIC HANDWRITING." International Journal of Humanoid Robotics 02, no. 01 (2005): 105–24. http://dx.doi.org/10.1142/s021984360500034x.

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Handwriting has always been considered an important human task, and accordingly it has attracted the attention of researchers working in biomechanics, physiology, and related fields. There exist a number of studies on this area. This paper considers the human–machine analogy and relates robots with handwriting. The work is two-fold: it improves the knowledge in biomechanics of handwriting, and introduces some new concepts in robot control. The idea is to find the biomechanical principles humans apply when resolving kinematic redundancy, express the principles by means of appropriate mathematic

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Fernando, M. J., G. R. Saypulaev, and M. R. Saypulaev. "Analysis of a Four-Legged Robot Kinematics during Rotational Movements of Its Body." Advanced Engineering Research (Rostov-on-Don) 25, no. 1 (2025): 14–22. https://doi.org/10.23947/2687-1653-2025-25-1-14-22.

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Introduction. Walking robots are widely used in industry due to their unique capabilities for moving on uneven and complex surfaces. To provide high precision in controlling their movement, it is required to develop mathematical models and algorithms for planning the robot movement along various trajectories. A key aspect of the motion control system of walking robots is the planning of their leg movements. Despite significant advances in the field of modeling the kinematics of quadruped robots, existing scientific publications do not provide a complete kinematic model for robots similar to th

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Luft, Lukas, Tobias Schubert, Stergios I. Roumeliotis, and Wolfram Burgard. "Recursive decentralized localization for multi-robot systems with asynchronous pairwise communication." International Journal of Robotics Research 37, no. 10 (2018): 1152–67. http://dx.doi.org/10.1177/0278364918760698.

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This paper provides a fully decentralized algorithm for collaborative localization based on the extended Kalman filter. The major challenge in decentralized collaborative localization is to track inter-robot dependencies, which is particularly difficult when sustained synchronous communication between the robots cannot be guaranteed. Current approaches suffer from the need for particular communication schemes, extensive bookkeeping of measurements, overly conservative assumptions, or the restriction to specific measurement models. This paper introduces a localization algorithm that is able to

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