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This paper introduces a new multi-agent control problem, called an affine formation control problem, with the objective of asymptotically reaching a configuration that preserves collinearity and ratios of distances with respect to a target configuration. Suppose each agent updates its own state using a weighted sum of its neighbor's relative states with possibly negative weights. Then the affine control...
The paper studies the formation control problem for distributed robot systems. It is assumed each robot only has access to local sensing information (i.e. the relative positions and IDs of its neighbors). Taking into consideration physical sensing constraints (e.g. limited sensing range) and the motion of the robots over time, it may be noted that the sensing graph for the system is directed and time-varying...
In this paper, the omni-directional static walking method on a slope is proposed and problems of the stability in gait transition processes and in other non-horizontal environment are analyzed. We solved the sideways motion problems through setting coordinate systems, confirming the reachable region and movement area, calculation of the stability and gait transition method. Simulation platform is...
A mathematical model was firstly built for investigating the contact deformation distribution in a wire race ball bearing. The numerical computing program was developed in MATLAB??, by employing an example of a wire race ball bearing with a 1000 mm diameter used in a large-scale caterpillar disaster relief robot. The contact deformation distribution in the elliptical contact zone of the wire and the...
The concepts of Jacobian matrix, dexterity, manipulability and condition number have been floating around since the early beginning of robotics. These performance indices play an important role especially for optimal robot design. In this paper, we revisit these concepts for SCARA type robot and exhibit some surprising results that show that these concepts have to be manipulated with care for a proper...
In order to observe the robot driverpsilas workspace configuration and optimize its designing sizes, a three-dimensional motion simulation is studied in this paper. A three-dimensional realistic model of the robot driver is built by the model tool of AutoCAD for simulating the moving process of robot driver vividly. Through data format conversion, the model is imported into OpenGL which has excellent...
The kinematics analysis and dynamics simulation for clutch leg of robot driver are presented in this paper. By the dynamic simulation of clutch leg of robot driver based on ADAMS when turning on the engine, the curves of the key jointpsilas sanction and the clutch pedal pad velocity are obtained, and also the data for clutch robot leg design are offered. The simulation results are beneficial to characteristic...
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