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This paper define and analyze the new concept of reconfigurable simulator avatar. A simulator avatar is a fully integrated computer model of a driving simulator. The simulator is a useful tool for driving simulators development because it allows implementation and validation of different working hypotheses and layouts for driving simulators topologies. As a case study three avatars for three different...
In the paper the concept of a simulation avatar for a driver simulator is proposed. The SIMulation AVatar (SIMAV) for a driving simulator is understood as a fully integrated computer model of all driving simulator components: car (AVC), road (AVR) and driver (AVD). Based on the proposed concept the AVC for a 4×4 independent suspension vehicle is developed. The virtual models are implemented in Matlab/Simulink...
The paper presents an innovative approach for designing a mechatronic system. The proposed methodology integrates modern design techniques like Model based design; Rapid Control Prototyping and Hardware in the Loop in the development process of such systems. Using the proposed method a 6 DOF parallel robot is developed. The results regarding the implementations and the advantages of the proposed design...
The paper presents a model-based predictive control algorithm that uses a limited number of control sequences for on-line simulation of future behaviour of the process. Each control sequence used in simulation generates a predicted sequence of the output signal. The predicted output sequences are analysed and evaluated and then, using a set of rules, the `optimal' control signal is computed. To simulate...
The paper presents an approach for developing and testing the control system for a parallel structure using rapid control prototyping (RCP). The control algorithm is developed and simulated using Simulink, the implementation of the algorithms is made using the Matlab toolbox real time workshop and the DS1104 board from dSpace. The method is applied for a plan parallel robot with three degrees of freedom...
The paper presents a multi-objective optimum design procedure to a 3 degrees of freedom (DOF) parallel robot with regards to four optimality criteria: workspace boundary, transmission quality index, stiffness and numerical aspects. Additional objective functions can be used to extend the proposed design procedure to more general but specific design problems. The main aspects of their structure, kinematics,...
This paper is aimed at presenting a study on the optimization of the Biglide mini parallel robot, which comprises two-degree-of-freedom (DOF) mini parallel robots with constant struts. The robot workspace is characterized and the inverse kinematics equation is obtained In the paper, design optimization is implemented with genetic algorithms (GA) for optimization considering transmission quality index,...
Model based predictive control (MBPC) is a class of computer algorithms that explicitly use a process model to predict future plant outputs and compute an appropriate control action through on-line optimization of a cost objective function over a future horizon, subject to various constraints. This paper presents an MBPC type algorithm applied to nonlinear processes. The basic idea of the algorithm...
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