The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
In this paper, we propose a novel architecture to estimate external forces applied to a compliantly controlled balancing robot in simulations. We use similar dynamics equations used in the controller to find mismatches in the available sensory data and associate them to an unknown external force. Then by decomposing Jacobians, we search over the surface of all body links in the robot to find the force...
Feedback linearisation has been proved to be a powerful tool for making non-linear system dynamics fully or partially linear. This study investigates the use of the feedback linearisation approach as a novel way to design the internal model for Embedded Model Control, when applied to non-linear systems. This idea is applied to the control of an Unmanned Aerial Vehicle: the Borea project quadrotor...
Dynamics analysis model has been built, the corresponding computer program for which has been compiled on the basis of Matlab for a multi-link high-speed press. The press being developed is taken as an example to calculate in practice, calculation results of which show that the required torque is lower at the nominal pressure stroke. With constant increasing of crank speed, torque needed for overcoming...
In this paper, a new approach to identify the parameters of robot manipulator dynamics is presented. The approach is based on exciting the robot manipulator with multiple identification trajectories that pass through the operating point with specific speeds and accelerations. The position, velocity and acceleration of the robot joints along with the corresponding torque at the operating point are...
Parallel kinematic planer is a new type of PKM. For PKM, dynamic character analysis is important to the mechanism's control. The paper reviews the conceptions of the PKM's dynamic and its analyses method. The paper describes a kind of 4-dof parallel kinematic mechanism with D-H method. By utilizing Newton-Euler approach, the dynamic model of the mechanism is developed, and meanwhile the detailed calculation...
Due to the existence of the hinge, the parallel mechanism's high precision and high stiffness' characteristics in theory have been greatly affected. Based on a kind of 4-DOF parallel mechanism for cutting and the principle of prestressing to additional fixed tension flexible servo mechanism, the paper presents a novel flexible assistant parallel mechanism and then the new mechanism characteristics...
We show the dynamics computation employing Jacobian that relates the center of gravity (COG) to joints of link mechanisms, in this paper. COG Jacobian is used for the behavior planning and the control of humanoids. And, it usually expresses the relationship between the joints and COG of a robotpsilas whole body. However, in this scheme, itpsilas calculated regarding each link and not the robotpsilas...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.