scholarly journals Establishing an Improved Kane Dynamic Model for the 7-DOF Reconfigurable Modular Robot

2017 ◽  
Vol 2017 ◽  
pp. 1-13 ◽  
Author(s):  
Xiao Li ◽  
Hanxu Sun ◽  
Linjing Liao ◽  
Jingzhou Song
Keyword(s):  
Dynamic Model ◽  
Dynamic Models ◽  
Simulation Experiment ◽  
Industrial Robot ◽  
Coefficient Matrix ◽  
Modular Robot ◽  
Analysis Model ◽  
Explicit Formulation ◽  
Undetermined Coefficient ◽  
Improved Function

We propose an improved Kane dynamic model theory for the 7-DOF modular robot in this paper, and the model precision is improved by the improved function T′it. We designed three types of progressive modular joints for reconfigurable modular robot that can be used in industrial robot, space robot, and special robot. The Kane dynamic model and the solid dynamic model are established, respectively, for the 7-DOF modular robot. After that, the experimental results are obtained from the simulation experiment of typical task in the established dynamic models. By the analysis model of error, the equation of the improved torque T′it is derived and proposed. And the improved Kane dynamic model is established for the modular robot that used T′it. Based on the experimental data, the undetermined coefficient matrix is five-order linear that was proved in 7-DOF modular robot. And the explicit formulation is solved of the Kane dynamic model and can be used in control system.

Automatic Model Generation for Modular Reconfigurable Robot Dynamics

1998 ◽  
Vol 120 (3) ◽  
pp. 346-352 ◽  
Author(s):  
I-Ming Chen ◽  
Guilin Yang
Keyword(s):  
Closed Form ◽  
Dynamic Model ◽  
Degrees Of Freedom ◽  
Dynamic Models ◽  
Equation Of Motion ◽  
Robot Dynamics ◽  
Model Generation ◽  
Modular Robot ◽  
Form Equation ◽  
Automatic Model Generation

In control and simulation of a modular robot system, which consists of standardized and interconnected joint and link units, manual derivation of its dynamic model needs tremendous effort because these models change all the time as the robot geometry is altered after module reconfiguration. This paper presents a method to automate the generation of the closed-form equation of motion of a modular robot with arbitrary degrees-of-freedom and geometry. The robot geometry we consider here is branching type without loops. A graph technique, termed kinematic graphs and realized through assembly incidence matrices (AIM) is introduced to represent the module assembly sequence and robot geometry. The formulation of the dynamic model is started with recursive Newton-Euler algorithm. The generalized velocity, acceleration, and forces are expressed in terms of linear operations on se(3), the Lie algebra of the Euclidean group SE(3). Based on the equivalence relationship between the recursive formulation and the closed-form Lagrangian formulation, the accessibility matrix of the kinematic graph of the robot is used to assist the construction of the closed-form equation of motion of a modular robot. This automatic model generation technique can be applied to the control of rapidly reconfigurable robotic workcells and other automation equipment built around modular components that require accurate dynamic models.

A convolution neural network based semi-parametric dynamic model for industrial robot

2021 ◽  
pp. 095440622110398
Author(s):  
Chungang Zhuang ◽  
Yihui Yao ◽  
Yichao Shen ◽  
Zhenhua Xiong
Keyword(s):  
Neural Network ◽  
Dynamic Model ◽  
Dynamic Models ◽  
Industrial Robot ◽  
Friction Model ◽  
Rigid Body Dynamics ◽  
Convolution Neural Network ◽  
Joint Torque ◽  
Average Error ◽  
Proprioceptive Sensors

Robot dynamic model is widely applied to control, collision detection and motion planning. Accurate dynamic model can achieve better performance for the above applications. Traditional dynamic models have several limitations, such as the complex hypotheses for friction model and the requirement of additional joint torque sensors. This article constructs a convolution neural network (CNN) based semi-parametric dynamic (SPD) model by only using the motor encoder signals and motor currents. The SPD model not only contains the physically feasible parameters but also compensates the dynamic model by CNN. The parametric and non-parametric parts constitute the SPD model. A lightweight CNN is proposed to simultaneously ensure the accuracy and computational efficiency. To effectively train the CNN model, a dataset generation method, which expands the excitation trajectory and only uses a continuous trajectory to record data, is proposed. The CNN-based SPD model is verified on a 6-DoF laboratory-developed industrial robot only with the proprioceptive sensors. Compared with the traditional rigid body dynamics (RBD) model, the average error of the CNN-based SPD model is reduced by 9.23% in terms of the experimental results. Meanwhile, the proposed CNN-based method achieves better performance than other supervised methods.

scholarly journals Comparative Analysis of the Life-Cycle Cost of Robot Substitution: A Case of Automobile Welding Production in China

Symmetry ◽  
2021 ◽  
Vol 13 (2) ◽  
pp. 226
Author(s):  
Xuyang Zhao ◽  
Cisheng Wu ◽  
Duanyong Liu
Keyword(s):  
Life Cycle ◽  
Systems Engineering ◽  
Life Cycle Cost ◽  
Manufacturing Systems ◽  
Large Scale ◽  
Cost Allocation ◽  
Industrial Robot ◽  
Case Analysis ◽  
Industrial Robots ◽  
Analysis Model

Within the context of the large-scale application of industrial robots, methods of analyzing the life-cycle cost (LCC) of industrial robot production have shown considerable developments, but there remains a lack of methods that allow for the examination of robot substitution. Taking inspiration from the symmetry philosophy in manufacturing systems engineering, this article further establishes a comparative LCC analysis model to compare the LCC of the industrial robot production with traditional production at the same time. This model introduces intangible costs (covering idle loss, efficiency loss and defect loss) to supplement the actual costs and comprehensively uses various methods for cost allocation and variable estimation to conduct total cost and the cost efficiency analysis, together with hierarchical decomposition and dynamic comparison. To demonstrate the model, an investigation of a Chinese automobile manufacturer is provided to compare the LCC of welding robot production with that of manual welding production; methods of case analysis and simulation are combined, and a thorough comparison is done with related existing works to show the validity of this framework. In accordance with this study, a simple template is developed to support the decision-making analysis of the application and cost management of industrial robots. In addition, the case analysis and simulations can provide references for enterprises in emerging markets in relation to robot substitution.

Research on mechanism configuration and dynamic characteristics for multi-split transmission line mobile robot

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Wei Jiang ◽  
Yating Shi ◽  
Dehua Zou ◽  
Hongwei Zhang ◽  
Hong Jun Li
Keyword(s):  
Mobile Robot ◽  
Transmission Line ◽  
Dynamic Model ◽  
Dynamic Characteristics ◽  
Transmission Lines ◽  
Dynamic Models ◽  
Working Environment ◽  
Joint Torque ◽  
Content Type ◽  
Working Space

Purpose The purpose of this paper is to achieve the optimal system design of a four-wheel mobile robot on transmission line maintenance, as the authors know transmission line mobile robot is a kind of special robot which runs on high-voltage cable to replace or assist manual power maintenance operation. In the process of live working, the manipulator, working end effector and the working environment are located in the narrow space and with heterogeneous shapes, the robot collision-free obstacle avoidance movement is the premise to complete the operation task. In the simultaneous operation, the mechanical properties between the manipulator effector and the operation object are the key to improve the operation reliability. These put forward higher requirements for the mechanical configuration and dynamic characteristics of the robot, and this is the purpose of the manuscript. Design/methodology/approach Based on the above, aiming at the task of tightening the tension clamp for the four-split transmission lines, the paper proposed a four-wheel mobile robot mechanism configuration and its terminal tool which can adapt to the walking and operation on multi-split transmission lines. In the study, the dynamic models of the rigid robot and flexible transmission line are established, respectively, and the dynamic model of rigid-flexible coupling system is established on this basis, the working space and dynamic characteristics of the robot have been simulated in ADAMS and MATLAB. Findings The research results show that the mechanical configuration of this robot can complete the tightening operation of the four-split tension clamp bolts and the motion of robot each joint meets the requirements of driving torque in the operation process, which avoids the operation failure of the robot system caused by the insufficient or excessive driving force of the robot joint torque. Originality/value Finally, the engineering practicability of the mechanical configuration and dynamic model proposed in the paper has been verified by the physical prototype. The originality value of the research is that it has double important theoretical significance and practical application value for the optimization of mechanical structure parameters and electrical control parameters of transmission line mobile robots.

Force-based delay compensation for hardware-in-the-loop simulation divergence of 6-DOF space contact

2017 ◽  
Vol 233 (1) ◽  
pp. 151-165
Author(s):  
Qian Wang ◽  
Chenkun Qi ◽  
Feng Gao ◽  
Xianchao Zhao ◽  
Anye Ren ◽  
...  
Keyword(s):  
Dynamic Model ◽  
Dynamic Models ◽  
Contact Process ◽  
Three Dimensional ◽  
Compensation Method ◽  
Degree Of Freedom ◽  
Hardware In The Loop ◽  
Delay Compensation ◽  
Measurement Delay ◽  
Six Degree Of Freedom

The contact process of a space docking device needs verification before launching. The verification cannot only rely on the software simulation since the contact dynamic models are not accurate enough yet, especially when the geometric shape of the device is complex. Hardware-in-the-loop simulation is a choice to perform the ground test, where the contact dynamic model is replaced by a real device and the real contact occurs. However, the Hardware-in-the-loop simulation suffers from energy increase and instability since time delay is unavoidable. The existing delay compensation methods are mainly focused on a uniaxial or three-dimensional contact. In this paper, a force-based delay compensation method is proposed for the hardware-in-the-loop simulation of a six degree-of-freedom space contact. A six degree-of-freedom dynamic model of the spacecraft motion is derived, and a six degree-of-freedom delay compensation method is proposed. The delay is divided into track delay and measurement delay, which are compensated individually. Experiment results show that the proposed delay compensation method is effective for the six degree-of-freedom space contact.

Development of a reduced dynamic model for comfort evaluation of rail vehicle systems

2016 ◽  
Vol 230 (4) ◽  
pp. 489-504 ◽  
Author(s):  
Mortadha Graa ◽  
Mohamed Nejlaoui ◽  
Ajmi Houidi ◽  
Zouhaier Affi ◽  
Lotfi Romdhane
Keyword(s):  
Dynamic Model ◽  
Degrees Of Freedom ◽  
Dynamic Models ◽  
Railway Vehicle ◽  
Passenger Comfort ◽  
Rail Vehicle ◽  
Vehicle System ◽  
Comfort Evaluation ◽  
Complex Models ◽  
Reduced Dynamic

In this paper, an analytical reduced dynamic model of a rail vehicle system is developed. This model considers only 38 degrees of freedom of the rail vehicle system. This reduced model can predict the dynamic behaviour of the rail vehicle while being simpler than existing dynamic models. The developed model is validated using experimental results found in the bibliography and its results are compared with existing more complex models from the literature. The developed model is used for the passenger comfort evaluation, which is based on the value of the weighted root mean square acceleration according to the ISO 2631 standard. Several parameters of the system, i.e., passenger position, loading of the railway vehicle and its speed, and their effect on the passenger comfort are investigated. It was shown that the level of comfort is mostly affected by the speed of the railway vehicle and the position of the seat. The load, however, did not have a significant effect on the level of comfort of the passenger.

scholarly journals MODELO CUASI-DINÁMICO EN AIMSUN. COMPARATIVA CONTRA MODELOS ESTÁTICOS Y DINÁMICOS

2016 ◽  
Author(s):  
Jordi Casas
Keyword(s):  
Travel Time ◽  
Dynamic Model ◽  
Dynamic Models ◽  
Time Estimation ◽  
Real Data ◽  
Travel Time Estimation ◽  
Traffic Demand ◽  
Mesoscopic Models ◽  
Demand Models ◽  
Main Criticism

Traditionally traffic demand models require as input the impedance of a demand with respect to the network supply; mode choice or departure choice for example, take into account the travel time for each option. Bearing this in mind, the main criticism of using static models to evaluate travel times is that the estimated travel time could diverge considerably because these models have no capacity constraints. On the other hand, dynamic models, such as mesoscopic models, have a level of detail that is sometimes unnecessarily high for the final requirements. The Quasi-dynamic model developed in Aimsun could contribute to a more realistic estimate of the travel time while avoiding the need for a full dynamic model. This paper presents the integration of a Quasi-dynamic model inside the integrated framework of Aimsun and evaluates a comparison of all models in terms of travel time estimation. The evaluation is performed using real networks validated with real data sets.DOI: http://dx.doi.org/10.4995/CIT2016.2016.4127

scholarly journals Computational Modeling: Human Dynamic Model

2021 ◽  
Vol 15 ◽  
Author(s):  
Lijia Liu ◽  
Joseph L. Cooper ◽  
Dana H. Ballard
Keyword(s):  
Dynamic Model ◽  
Degrees Of Freedom ◽  
Dynamic Models ◽  
Movement Analysis ◽  
Human Movement ◽  
Uncontrolled Manifold ◽  
Human In The Loop ◽  
Joint Forces ◽  
Internal Joint ◽  
Movement Function

Improvements in quantitative measurements of human physical activity are proving extraordinarily useful for studying the underlying musculoskeletal system. Dynamic models of human movement support clinical efforts to analyze, rehabilitate injuries. They are also used in biomechanics to understand and diagnose motor pathologies, find new motor strategies that decrease the risk of injury, and predict potential problems from a particular procedure. In addition, they provide valuable constraints for understanding neural circuits. This paper describes a physics-based movement analysis method for analyzing and simulating bipedal humanoid movements. The model includes the major body segments and joints to report human movements' energetic components. Its 48 degrees of freedom strike a balance between very detailed models that include muscle models and straightforward two-dimensional models. It has sufficient accuracy to analyze and synthesize movements captured in real-time interactive applications, such as psychophysics experiments using virtual reality or human-in-the-loop teleoperation of a simulated robotic system. The dynamic model is fast and robust while still providing results sufficiently accurate to be used to animate a humanoid character. It can also estimate internal joint forces used during a movement to create effort-contingent stimuli and support controlled experiments to measure the dynamics generating human behaviors systematically. The paper describes the innovative features that allow the model to integrate its dynamic equations accurately and illustrates its performance and accuracy with demonstrations. The model has a two-foot stance ability, capable of generating results comparable with an experiment done with subjects, and illustrates the uncontrolled manifold concept. Additionally, the model's facility to capture large energetic databases opens new possibilities for theorizing as to human movement function. The model is freely available.

scholarly journals OPTIMAL AIRLINE SEAT INVENTORY CONTROL FOR MULTI‐LEG FLIGHTS

Aviation ◽  
2004 ◽  
Vol 8 (4) ◽  
pp. 10-15
Author(s):  
Edgars K. Vasermanis ◽  
Nicholas A. Nechval ◽  
Konstantin N. Nechval ◽  
Kristine N. Rozite
Keyword(s):  
Dynamic Model ◽  
Inventory Control ◽  
Dynamic Models ◽  
Difficult Problem ◽  
Seat Allocation ◽  
The Right ◽  
Seat Inventory Control ◽  
Demand And Capacity ◽  
Over Time

Airline seat inventory control is about “selling the right seats to the right people at the right time”. In this paper, the problem of determining optimal booking policy for multiple fare classes in a pool of identical seats for multi‐leg flights is considered. During the time prior to departure of a multi‐leg flight, decisions must be made concerning the allocation of reserved seats to passengers requesting space on the full or partial spans of the flight. It will be noted that in the case of multi‐leg flights the long‐haul passengers are often unable to obtain seats because the shorter‐haul passengers block them. For large commercial airlines, efficiently setting and updating seat allocation targets for each passenger category on each multi‐leg flight is an extremely difficult problem. This paper presents static and dynamic models of airline seat inventory control for multi‐leg flights with multiple fare classes, which allow one to maximize the expected contribution to profit. The dynamic model uses the most recent demand and capacity information and allows one to allocate seats dynamically and anticipatorily over time.

Rotorcraft control response using linearised and non-linear flight dynamic models with different inflow models

2017 ◽  
Vol 121 (1238) ◽  
pp. 553-575 ◽  
Author(s):  
T. Sakthivel ◽  
C. Venkatesan
Keyword(s):  
Dynamic Model ◽  
Dynamic Models ◽  
Model Identification ◽  
Flight Test ◽  
Step Size ◽  
Response Characteristics ◽  
Wide Range ◽  
Non Linear ◽  
Steady Level ◽  
Control Response

ABSTRACTThe aim of the present study is to develop a relatively simple flight dynamic model which should have the ability to analyse trim, stability and response characteristics of a rotorcraft under various manoeuvring conditions. This study further addresses the influence of numerical aspects of perturbation step size in linearised model identification and integration timestep on non-linear model response. In addition, the effects of inflow models on the non-linear response are analysed. A new updated Drees inflow model is proposed in this study and the applicability of this model in rotorcraft flight dynamics is studied. It is noted that the updated Drees inflow model predicts the control response characteristics fairly close to control response characteristics obtained using dynamic inflow for a wide range of flight conditions such as hover, forward flight and recovery from steady level turn. A comparison is shown between flight test data, the control response obtained from the simple flight dynamic model, and the response obtained using a more detailed aeroelastic and flight dynamic model.

Sign in / Sign up

Export Citation Format

Share Document