Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)

1999 ◽  
Keyword(s):  
Robot Motion ◽  
And Control

Two Wheel Differential Robot Kinematic Analysis and Control

2012 ◽  
Vol 548 ◽  
pp. 848-852
Author(s):  
Wei Xin Wang ◽  
Wei Zhang
Keyword(s):  
Motion Control ◽  
Pid Control ◽  
Control Algorithm ◽  
Control Model ◽  
System Response ◽  
Robot Motion ◽  
Input And Output ◽  
Fuzzy Control Strategy ◽  
And Control ◽  
The Membership Function

The paper analyse the two wheel differential robot motion control, and the membership function of affiliation between the amount of input and output was established.Then combine the incremental PID control algorithm with fuzzy control strategy, and it was used to the two wheel differential robot motion control model. By the MATLAB for simulation, get the control system response curve and achieve a satisfactory result.

Determining the Effects of Coulomb Friction on the Dynamics of Bearings and Transmissions in Robot Mechanisms

1993 ◽  
Vol 115 (2) ◽  
pp. 231-240 ◽  
Author(s):  
A. Gogoussis ◽  
M. Donath
Keyword(s):  
Coulomb Friction ◽  
High Speed ◽  
Robot Motion ◽  
Robot Dynamics ◽  
Quantitative Characterization ◽  
Joint Coordinates ◽  
Dynamics Problems ◽  
And Control

In order to accurately model robots for precision applications where dynamics are significant, it is important to include the effects of Coulomb friction in the bearings and transmissions. The general guidelines for analyzing friction at the joints will be discussed. It will be shown that friction can be related to the joint coordinates and their first and second time derivatives. The resulting extended robot dynamics formulation will be investigated as it applies to the inverse and forward robot dynamics problems. The analytical dependency of Coulomb friction on joint interactions is explicitly examined. As an illustration of friction effects in transmissions, we elaborate on the friction in harmonic drives and develop a method for its evaluation. The effect of friction in the bearings on the dynamics is also considered and a quantitative characterization of several specific cases is provided. This study is significant to understanding the design and control issues as they relate to achieving high speed precision robot motion.

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