Готові списки джерел за темами / Robots Mathematical models

Добірка наукової літератури з теми "Robots Mathematical models"

Автор: Grafiati
Опубліковано: 10 грудня 2022
Оновлено: 29 січня 2023

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Статті в журналах з теми "Robots Mathematical models"

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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Анотація:
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 robots. Methodology. The differential equations describing the robot motion are derived using the Lagrange-d'Alembert principle. The numerical modeling is carried out in the Mathematica software by solving the derived system of differential equations with the help of the Runge-Kutta methods. The verification of the obtained results is performed by computer simulation of the robot motion in the SolidWorks and MapleSim software. Findings (results). The time dependencies of the basic kinematic parameters (displacement, velocity, acceleration) of the robot’s vibratory system are analyzed. The possibilities of maximizing the robot translational velocity are considered. Originality (novelty). The paper generalizes the existent designs and mathematical models of the mobile vibration-driven robots’ suspensions and studies the combined four-spring locomotion system moving along a rough horizontal surface. Practical value. The obtained results can be effectively used by researchers and designers of vibration-driven locomotion systems while improving the existent designs and developing the new ones. Scopes of further investigations. While carrying out further investigations on the subject of the paper, it is necessary to solve the problem of optimizing the robot’s oscillatory system parameters in order to maximize its translational velocity.
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2

Matuliauskas, Arvydas, and Bronislovas Spruogis. "PIPELINE ROBOTS WITH ELASTIC ELEMENTS." TRANSPORT 17, no. 5 (October 31, 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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3

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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Анотація:
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 briefly summarizes the research progress of key points such as robot dynamics, robot types, and different dynamic models of the differential types of service robots. The current review study can be helpful as an initial node for all researchers in this topic and help them to have the better simulation and analyses. Besides the current research shows some application that can specify the service robot model over the application.
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4

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

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5

Migdalovici, Marcel, L. Vladareanu, Hongnian Yu, N. Pop, M. Iliescu, V. Vladareanu, D. Baran, and G. Vladeanu. "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 (May 16, 2018): 134. http://dx.doi.org/10.14419/ijet.v7i2.28.12896.

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Анотація:
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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6

Cerrillo, Diego, Antonio Barrientos, and Jaime Del Cerro. "Kinematic Modelling for Hyper-Redundant Robots—A Structured Guide." Mathematics 10, no. 16 (August 12, 2022): 2891. http://dx.doi.org/10.3390/math10162891.

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Анотація:
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 framework to understand all the underlying models is presented. Afterwards, the mathematical equations for the most important methods of modelling are developed. Finally, the proposal for a step-by-step tutorial is included, and it is exemplified by applying it to three real robots.
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7

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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8

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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Анотація:
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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9

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 (December 18, 2020): 9067. http://dx.doi.org/10.3390/app10249067.

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Анотація:
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 robot’s capabilities by using it as a sling, that is, by throwing a mass at a suitable time. The mass is carried at the end-effector by a gripper, which releases the mass so that it can reach a given target point. Mathematical models are presented that provide guidelines for planning the trajectory. Moreover, results are shown from simulations that include the effect of cable elasticity. Finally, suggestions are offered regarding how such a trajectory can be optimized.
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10

Wang, Chuanwei, Saisai Wang, Hongwei Ma, Heng Zhang, Xusheng Xue, Haibo Tian, and Lei Zhang. "Research on the Obstacle-Avoidance Steering Control Strategy of Tracked Inspection Robots." Applied Sciences 12, no. 20 (October 18, 2022): 10526. http://dx.doi.org/10.3390/app122010526.

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Анотація:
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 steering radius of the robot, the traction force and resistance torque models of the tracked robot were established, and the plane dynamics of the robot’s steering were analyzed and solved. The corresponding relationships between the road parameters, relative steering radius, and lateral relative offset of the robot on three typical roads were obtained. Mathematical models of the robot’s track speed and relative steering radius with and without skid and slip were established. Through simulation analysis of Matlab software, the corresponding relationship between the relative steering radius of the robot and the velocity difference of the two tracks were obtained. Taking angular obstacles as an example, three obstacle-avoidance steering control strategies, once turning in situ center, twice turning in situ center, and large-radius steering were developed. The tracked robot and obstacle multi-body dynamic simulation models were constructed using ADAMS simulation software. The simulation results show that all three methods can complete the steering tasks according to the requirements; however, under the influence of skid and slip, the trajectory of the robot deviates from the ideal trajectory, which has a great impact on large-radius steering, even though the large-radius obstacle-avoidance steering control strategy has the advantages of a smooth trajectory, fast steering speed, and high efficiency. The obstacle-avoidance steering experiments were completed by the robot prototype, which verifies the rationality of robot steering theory, which could provide the corresponding theoretical basis for autonomous obstacle-avoidance navigation control of a tracked robot.
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Дисертації з теми "Robots Mathematical models"

1

Ma, Ou. "Dynamics of serial-type robotic manipulators." Thesis, McGill University, 1987. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=63771.

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2

Zhu, Wenkai, and 朱文凯. "Performance optimisation of mobile robots in dynamic environments." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2012. http://hub.hku.hk/bib/B49617904.

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Анотація:
Rousing applications of robot teams abound over the past three decades, but ferocious demands for viable systems to coordinate teams of mobile robots in dynamic environments still linger on. To meet this challenge, this project proposes a performance optimisation system for mobile robots to make the team performance more reliable and efficient in dynamic environments. A wide range of applications will benefit from the system, such as logistics, military, and disaster rescue. The performance optimisation system comprises three main modules: (1) a task allocation module to assign tasks to robots, (2) a motion planning module to navigate robots, and (3) a graphical simulation module to visualise robot operations and to validate the methodologies of performance optimisation. The task allocation module features a closed-loop bid adjustment mechanism for auctioning tasks to capable robots. Unlike most traditional open-looped methods, each of the robots evaluates its own performance after completing a task as feedback correction to improve its future bid prices of similar tasks. Moreover, a series of adjustments are weighed and averaged to damp out drastic deviations due to operational uncertainties. As such, the accuracy of bid prices is improved, and tasks are more likely allocated to suitable robots that are expected to perform better by offering more reliable bids. The motion planning module is bio-inspired intelligent, characterised by detection of imminent neighbours and design flexibility of virtual forces to enhance the responsiveness of robot motions. Firstly, while similar methods unnecessarily entail each robot to consider all the neighbours, the detection of imminent neighbours instead enables each robot to mimic creatures to identify and only consider imminent neighbours which pose collision dangers. Hence, redundant computations are reduced and undesirable robot movements eliminated. Secondly, to imitate the responsive motion behaviours of creatures, a virtual force method is adopted. It composes virtual attractive forces that drive the robots towards their targets and, simultaneously, exerts virtual repulsive forces to steer the robots away from one another. To enhance the design flexibility of the virtual forces, a twosection function and, more significantly, a spline-based method are proposed. The shapes of force curves can be flexibly designed and adjusted to generate smooth forces with desirable magnitudes. Accordingly, robot motions are streamlined and likelihood of robot collisions reduced. The graphical simulation module simulates and visualises robot team operations, and validates the proposed methodologies. It effectively emulates the operational scenarios and enables engineers to tackle downstream problems earlier in the design cycle. Furthermore, time and costs of robotic system development in the simulation module are considerably cut, compared with a physical counterpart. The performance optimisation system is indeed viable in improving the operational safety and efficiency of robot teams in dynamic environments. It has substantially pushed the frontiers of this field, and may be adapted as an intelligent control software system for practical operations of physical robot teams to benefit various applications.
HKU 3 Minute Thesis Award, 1st Runner-up (2012)
published_or_final_version
Industrial and Manufacturing Systems Engineering
Doctoral
Doctor of Philosophy
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3

Sood, Gaurav. "Simulation and control of a hip actuated robotic model for the study of human standing posture." Thesis, McGill University, 2007. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=99794.

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Human stance in quiet mode, relies on feedback from eyes, skin, muscles and the inner ear and the control produced is a combination of strategies which enable a person to stay standing. This thesis presents the simulation and control of a hip actuated robotic model of human standing posture.
The first part of the thesis is devoted to recalling basic elements of the human balance system and to describe the balance strategies it uses to maintain an upright stance. Of the strategies presented, we consider the hip strategy which motivated the formulation of a hip actuated robot. An investigation into the control of nonlinear underactuated robots by linear controllers is done to verify the range and efficiency of the controlled system.
The second part of the thesis includes the investigation of two simplified models of the robot. Results using linear state feedback control are presented. The two models used are compared to clarify the use of one over the other.
We found that for linear controls, the size of the region of convergence decreased underactuated systems of increasing complexity. For our four degrees of freedom robot, the region of convergence is of 2.3 degrees for the actuated joints and of 1 degree for the unactuated joints. Our system is Lyapunov stable when the fully simplified model is assumed.
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4

Guo, Lin 1962. "Controller estimation for the adaptive control of robotic manipulators." Thesis, McGill University, 1987. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=63860.

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5

Yang, Xuedong. "Modeling and control of two-axis belt-drive gantry robots." Diss., Georgia Institute of Technology, 2000. http://hdl.handle.net/1853/13061.

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6

朱國基 and Kwok-kei Chu. "Design and control of a six-legged mobile robot." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2001. http://hub.hku.hk/bib/B31225895.

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7

Carey, Mara L. "An enhanced integrated-circuit implementation of muscular contraction." Thesis, Georgia Institute of Technology, 2000. http://hdl.handle.net/1853/15507.

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8

Rusaw, Shawn. "Sensor-based motion planning via nonsmooth analysis." Thesis, University of Oxford, 2002. http://ora.ox.ac.uk/objects/uuid:46fa490d-c4ca-45ad-9cd5-b1f11920863d.

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In this thesis we present a novel approach to sensor-based motion planning developed using the mathematical tools provided by the field of nonsmooth analysis. The work is based on a broad body of background material developed using the tools of differential topology (smooth analysis), that is limited to simple cases like a point or circular robot. Nonsmooth analysis is required to extend this background work to the case of a polygonal robot moving amidst polygonal obstacles. We present a detailed nonsmooth analysis of the distance function for arbitrary configuration spaces and use this analysis to develop a planner for a rotating and translating polygonal mobile robot. Using the tools of nonsmooth analysis, we then describe a one-dimensional nonsmooth roadmap of the robot's freespace called the Nonsmooth Critical Set + Nonsmooth Generalised Voronoi Graph (NCRIT+NGVG) where the robot is equidistant to a number of obstacles, in a critical configuration or passing between two obstacles. We then use the related field of nonsmooth control theory to develop several provably stable control laws for following and exploring the nonsmooth roadmap. Finally, we implement a motion planner in simulation and for a real polygonal mobile robot, thus verifying the utility and practicality of the nonsmooth roadmap.
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Ngan, Choi-chik, and 顔才績. "A hidden Markov model approach to force-based contact recognition for intelligent robotic assembly." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2002. http://hub.hku.hk/bib/B31243496.

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10

Feng, Jingbin. "Quasi-Static Deflection Compensation Control of Flexible Manipulator." PDXScholar, 1993. https://pdxscholar.library.pdx.edu/open_access_etds/4759.

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The growing need in industrial applications of high-performance robots has led to designs of lightweight robot arms. However the light-weight robot arm introduces accuracy and vibration problems. The classical robot design and control method based on the rigid body assumption is no longer satisfactory for the light-weight manipulators. The effects of flexibility of light-weight manipulators have been an active research area in recent years. A new approach to correct the quasi-static position and orientation error of the end-effector of a manipulator with flexible links is studied in this project. In this approach, strain gages are used to monitor the elastic reactions of the flexible links due to the weight of the manipulator and the payload in real time, the errors are then compensated on-line by a control algorithm. Although this approach is designed to work for general loading conditions, only the bending deflection in a plane is investigated in detail. It is found that a minimum of two strain gages per link are needed to monitor the deflection of a robot arm subjected to bending. A mathematical model relating the deflections and strains is developed using Castigliano's theorem of least work. The parameters of the governing equations are obtained using the identification method. With the identification method, the geometric details of the robot arms and the carrying load need not be known. The deflections monitored by strain gages are fed back to the kinematic model of the manipulator to find the position and orientation of the end-effector of the manipulator. A control algorithm is developed to compensate the deflections. The inverse kinematics that includes deflections as variables is solved in closed form. If the deflections at target position are known, this inverse kinematics will generate the exact joint command for the flexible manipulator. However the deflections of the robot arms at the target position are unknown ahead of time, the current deflections at each sampling time are used to predict the deflections at target position and the joint command is modified until the required accuracy is obtained. An experiment is set up to verify the mathematical model relating the strains to the deflections. The results of the experiment show good agreement with the model. The compensation control algorithm is first simulated in a computer program. The simulation also shows good convergence. An experimental manipulator with two flexible links is built to prove this approach. The experimental results show that this compensation control improves the position accuracy of the flexible manipulator significantly. The following are the brief advantages of this approach: the deflections can be monitored without measuring the payload directly and without the detailed knowledge of link geometry~ the manipulator calibrates itself with minimum human intervention; the compensation control algorithm can be easily integrated with the existing uncompensated rigid-body algorithm~ it is inexpensive and practical for implementation to manipulators installed in workplaces.
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Книги з теми "Robots Mathematical models"

1

Buratowski, Tomasz. Mobile robots - selected issues: Mobilne roboty - zagadnienia wybrane. Krakow: AGH University of science and Technology Press, 2013.

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2

Kozłowski, Krzysztof. Modele matematyczne dynamiki robotów oraz identyfikacja parametrów tych modeli. Poznań: Politechnika Poznańska, 1992.

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3

W, Dawande Milind, ed. Throughput optimization in robotic cells. New York: Springer, 2007.

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4

Stefan, Türk, ed. The DFVLR models 1 and 2 of the Manutec r3 robot. Oberpfaffenhofen: DFVLR, Institut für Dynamik der Flugsysteme, 1988.

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5

Megahed, Saïd M. Principles of robot modelling and simulation. Chichester: J. Wiley, 1993.

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6

1965-, Shukla Anupam, and Kala Rahul, eds. Intelligent planning for mobile robotics: Algorithmic approaches. Hershey, PA: Information Science Reference, 2012.

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7

R, Dzamoev Ė. Modeli robotizirovannykh proizvodstv. Kishinev: "Shtiint͡s︡a", 1985.

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8

Ji gou xing neng zhi biao li lun yu fang zhen. Beijing: Ke xue chu ban she, 2010.

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9

Modelling and identification in robotics. Berlin: Springer, 1998.

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10

Markhadaev, B. E. Tochnostnye modeli promyshlennykh robotov. Ulan-Udė: Izd-vo BNT͡S︡, Assot͡s︡iirovannyĭ chlen Izd-va SO RAN, 1998.

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Частини книг з теми "Robots Mathematical models"

1

Antonelli, Gianluca. "Mathematical models." In Underwater Robots, 165–70. Berlin, Heidelberg: Springer Berlin Heidelberg, 2003. http://dx.doi.org/10.1007/978-3-662-14387-2_7.

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2

Stager, Adam, and Herbert G. Tanner. "Mathematical Models for Physical Interactions of Robots in Planar Environments." In Springer Proceedings in Advanced Robotics, 549–58. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-33950-0_47.

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3

Ijspeert, Auke Jan. "Decoding the Neural Mechanisms Underlying Locomotion Using Mathematical Models and Bio-inspired Robots: From Lamprey to Human Locomotion." In Springer Proceedings in Advanced Robotics, 177–86. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-51532-8_11.

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4

Tsui, Chia-Chi. "System Mathematical Models." In Robust Control System Design, 1–24. 3rd ed. Boca Raton: CRC Press, 2022. http://dx.doi.org/10.1201/9781003259572-1.

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5

Ben-Haim, Yakov. "Reliability of Mathematical Models." In Robust Reliability in the Mechanical Sciences, 155–73. Berlin, Heidelberg: Springer Berlin Heidelberg, 1996. http://dx.doi.org/10.1007/978-3-642-61154-4_6.

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6

Dosaev, Marat, Yury Okunev, Ren-Chyuan Luo, Vitaly Samsonov, and Olga Vasiukova. "A Mathematical Model for Robot-Indenter." In Springer Proceedings in Mathematics & Statistics, 169–79. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-42402-6_15.

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7

Vukobratović, Miomir. "Computer Forming of Mathematical Model of Manipulation Robots Dynamics." In Applied Dynamics of Manipulation Robots, 35–159. Berlin, Heidelberg: Springer Berlin Heidelberg, 1989. http://dx.doi.org/10.1007/978-3-642-83866-8_2.

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Aprosin, Konstantin, Aleksander Tavlintcev, Sergey Semenenko, and Maria Shorikova. "Kite Sailing Platform Mathematical Model and Stabilization." In Robotic Sailing 2015, 59–73. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-23335-2_5.

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9

Papcun, Peter, and Ján Jadlovský. "Mathematical Model of Robot Melfa RV-2SDB." In Advances in Intelligent Systems and Computing, 145–54. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-10783-7_16.

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Valavanis, Kimon P., and George N. Saridis. "The Mathematical Model for Intelligent Robotic Systems." In Intelligent Robotic Systems: Theory, Design and Applications, 59–123. Boston, MA: Springer US, 1992. http://dx.doi.org/10.1007/978-1-4615-3568-3_4.

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Тези доповідей конференцій з теми "Robots Mathematical models"

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Archila, John Faber, and Marcelo Becker. "Study of Robots to Pipelines, Mathematical Models and Simulation." In 2013 Latin American Robotics Symposium and Competition (LARS/LARC). IEEE, 2013. http://dx.doi.org/10.1109/lars.2013.51.

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Lindsey, Quentin J., Michael Shomin, and Vijay Kumar. "Cooperative Quasi-Static Planar Manipulation With Multiple Robots." In ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/detc2010-28585.

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Анотація:
In this paper we address the modeling, control, and planning of planar manipulation tasks with multiple robots equipped with simple end-effectors. Each robot is able to influence the motion of an object either by exerting forces through the end-effector or by contact through a robot body. We develop a quasi-static model for the planar manipulation task that incorporates mathematical models of the object-ground contact, the object-robot contact and the compliant end-effector. This model allows us to predict object velocities for specified robot motions. We use this model to develop a simple motion planning algorithm for object manipulation that allows robots to select grasps, regrasp when necessary and manipulate an object along desired trajectories. Our experiments validate the mathematical models and demonstrate the feasibility of multirobot manipulation using the quasi-static model and the motion planning algorithm.
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Dhami, Sukhdeep S., Ashutosh Sharma, Rohit Kumar, and Parveen Kalra. "Gesture Based Control of a Simulated Robot Manipulator." In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/detc2015-47419.

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The number of industrial and household robots is fast increasing. A simpler human-robot interaction is preferred in household robotic applications as well as in hazardous environments. Gesture based control of robots is a step in this direction. In this work, a virtual model of a 3-DOF robotic manipulator is developed using V-Realm Builder in MATLAB and the mathematical models of forward and inverse kinematics of the manipulator are coded in MATLAB/Simulink software. Human hand gestures are captured using a smartphone with accelerometer and orientation sensors. A wireless interface is provided for transferring smartphone sensory data to a laptop running MATLAB/Simulink software. The hand gestures are used as reference signal for moving the wrist of the robot. A user interface shows the instantaneous joint angles of robot manipulator and spatial coordinates of robot wrist. This simple yet effective tool aids in learning a number of aspects of robotics and mechatronics. The animated graphical model of the manipulator provides a better understanding of forward and inverse kinematics of robot manipulator. The robot control using hand gestures generates curiosity in student about interfacing of hardware with computer. It may also stimulate new ideas in students to develop virtual learning tools.
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Harada, Takashi, and Motoya Nagase. "Configurations and mathematical models of parallel link mechanisms using multi drive linear motors." In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009). IEEE, 2009. http://dx.doi.org/10.1109/iros.2009.5354422.

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Bulgakov, Alexej, and Thomas Bock. "Mathematical Models Construction for Building Robots with Due Account of Elastic Deformations of Mechanisms." In 22nd International Symposium on Automation and Robotics in Construction. International Association for Automation and Robotics in Construction (IAARC), 2005. http://dx.doi.org/10.22260/isarc2005/0012.

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Gandra, Chandravamsi, and Phanindra Tallapragada. "Dynamics of a Vibration Driven Bristlebot." In ASME 2019 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/dscc2019-9018.

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Abstract Vibration driven robots such as the so called bristlebot and kilobot utilize periodic forced vibration of an internal mass to achieve directed locomotion. These robots are supported on an elastic element such as bristles or cilia and contain an internal mass that is driven to oscillate at a high frequency. Besides well known applications in investigating swarming behavior, such robots have potential applications in rescue operations in rubble, inspections of pipes and other inaccessible confined areas and in medical devices where conventional means of locomotion is ineffective. Bristlebot or its commercially available variants such as hexbugs are popular toy robots. Despite the apparent simplicity of these robots, their dynamic behavior is very complex. Vibration robots have attracted surprisingly few analytical models, those models that exist can only explain some regimes of locomotion. In this paper, a wide range of motion dynamics of a bristlebot is explored using a mathematical model which accounts for slip-stick motion of the bristles with the substrate. Analytical conditions for the system to exhibit a particular type of motion are formulated and the system of equations defining the motion are solved numerically using these conditions. The numerical simulations show transitions in the kinds of locomotion of a bristlebot as a function of the forcing frequency. These different kinds of locomotion include stick-slip and pure slip motions along with the important phenomenon of the reversal of the direction of motion of the robot. In certain ranges of frequencies, the robot can lose contact with the ground and ‘jump’. These different regimes of locomotion are a result of the nonlinear vibrations of the robot and the friction between the robot’s bristles and the ground. The results of this paper can potentially lead to more versatile vibration robots with predictable and controllable dynamics.
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MORISHITA, YOSUKE, DAISUKE SANNOHE, TATSUYA OSAWA, TOMOYA TANAKA, and TARO NAKAMURA. "DERIVATION OF MATHEMATICAL MODELS OF THE PERISTALTIC CRAWLING ROBOT FOR MAINTENANCE OF A MIXING TANK." In Proceedings of the 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. WORLD SCIENTIFIC, 2013. http://dx.doi.org/10.1142/9789814525534_0035.

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Feng, Shumin, Hailin Ren, Xinran Wang, and Pinhas Ben-Tzvi. "Mobile Robot Obstacle Avoidance Based on Deep Reinforcement Learning." In ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/detc2019-97536.

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Abstract Obstacle avoidance is one of the core problems in the field of mobile robot autonomous navigation. This paper aims to solve the obstacle avoidance problem using Deep Reinforcement Learning. In previous work, various mathematical models have been developed to plan collision-free paths for such robots. In contrast, our method enables the robot to learn by itself from its experiences, and then fit a mathematical model by updating the parameters of a neural network. The derived mathematical model is capable of choosing an action directly according to the input sensor data for the mobile robot. In this paper, we develop an obstacle avoidance framework based on deep reinforcement learning. A 3D simulator is designed as well to provide the training and testing environments. In addition, we developed and compared obstacle avoidance methods based on different Deep Reinforcement Learning strategies, such as Deep Q-Network (DQN), Double Deep Q-Network (DDQN) and DDQN with Prioritized Experience Replay (DDQN-PER) using our simulator.
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Kelasidi, Eleni, Gard Elgenes, and Henrik Kilvær. "Fluid Parameter Identification for Underwater Snake Robots." In ASME 2018 37th International Conference on Ocean, Offshore and Arctic Engineering. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/omae2018-78070.

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Nowadays different types of unmanned underwater vehicles (UUVs), such as remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs), are widely used for sub-sea inspection, maintenance, and repair (IMR) operations in the oil and gas industry, archaeology, oceanography and marine biology. Also, lately, the development of underwater snake robots (USRs) shows promising results towards extending the capabilities of conventional UUVs. The slender and multi-articulated body of USRs allows for operation in tight spaces where other traditional UUVs are incapable of operating. However, the mathematical model of USRs is more challenging compared to models of ROVs and AUVs, because of its multi-articulated body. It is important to develop accurate models for control design and analysis, to ensure the desired behaviour and to precisely investigate the locomotion efficiency. Modelling the hydrodynamics poses the major challenge since it includes complex and non-linear hydrodynamic effects. The existing analytical models for USRs consider theoretical values for the fluid coefficients and thus they only provide a rough prediction of the effects of hydrodynamics on swimming robots. In order to obtain an accurate prediction of the hydrodynamic forces acting on the links of the USRs, it is necessary to obtain the fluid coefficients experimentally. This paper determines the drag and added mass co-efficients of a general planar model of USRs. In particular, this paper presents methods for identifying fluid parameters based on both computational fluid dynamic (CFD) simulations and several experimental approaches. Additionally, in this paper, we investigate variations of the drag force modelling, providing more accurate representations of the hydrodynamic drag forces. The obtained fluid coefficients are compared to the existing estimates of fluid coefficients for a general model of USRs.
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Shih, Yi-Pei, Bor-Tyng Sheen, Kun-Yu Wu, and Jyh-Jone Lee. "Transmission Errors and Backlash Analysis of a Single-Stage Cycloidal Drive Using Tooth Contact Analysis." In ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/detc2018-85558.

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Cycloidal gear drives possess compact sizes, large reduction ratios, and low backlash. They are particularly suitable for applications in precise positioning and large output torque, for example, industrial robots and machine tools. Two main dynamic performances, transmission accuracy and backlash, is directly influenced by manufacturing errors. This paper aims to provide a direct method to effectively evaluate both performances. The mathematical models of transmission errors and backlash are established using the theory of gearing as well as tooth contact analysis. Three cases, considering profile modifications of the cycloidal gear and manufacturing errors, are evaluated to verify the correctness of the mathematical models.
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