Advanced Dynamics Modeling, Duality and Control of Robotic Systems

2021 ◽  
Author(s):  
Edward Y.L. Gu
Keyword(s):  
Robotic Systems ◽  
Dynamics Modeling ◽  
And Control

scholarly journals Modelling and Control of Mechatronic and Robotic Systems

2021 ◽  
Vol 11 (7) ◽  
pp. 3242
Author(s):  
Alessandro Gasparetto ◽  
Stefano Seriani ◽  
Lorenzo Scalera
Keyword(s):  
Robotic Systems ◽  
And Control

Nowadays, the modelling and control of mechatronic and robotic systems is an open and challenging field of investigation in both industry and academia[...]

Herstellerneutrale Programmierung von Robotern*/Manufacturer-independent programming of robots - A software architecture concept for controlling and programming heterogeneous robotic systems

2017 ◽  
Vol 107 (09) ◽  
pp. 594-599
Author(s):  
A. Magaña ◽  
G. Prof. Reinhart
Keyword(s):  
Software Architecture ◽  
Industrial Robots ◽  
Robotic Systems ◽  
Key Technology ◽  
Robot Systems ◽  
And Control

Industrieroboter sind zu einer Schlüsseltechnologie in der Produktion geworden. Mit dem steigenden Einsatz von diversen Robotersystemen wächst das Bedürfnis, deren Kompatibilität zu steigern. Heutzutage gibt es keine Technologie in der Industrie, die eine standardisierte Programmierung und Steuerung von verschiedenen Robotersystemen gewährleisten kann. Dieser Fachbeitrag präsentiert ein einheitliches Konzept, welches die Anwendung von herstellerneutralen Roboterapplikationen ermöglicht.   Industrial robots have become a key technology in production. The increasing use of various robotic systems, raises the need to enhance their compatibilit.y Nowadays, there is no technology in the industry to guarantee a standardized programming and control of different robot systems. This article presents a concept enabling the use of manufacturer-independent robot applications.

Dynamics modeling and simulation of constrained robotic systems

2003 ◽  
Vol 8 (2) ◽  
pp. 165-177 ◽  
Author(s):  
J. Kovecses ◽  
J. Piedboeuf ◽  
C. Lange
Keyword(s):  
Modeling And Simulation ◽  
Robotic Systems ◽  
Dynamics Modeling

Construction of program movements of two!handed technological robots

2021 ◽  
pp. 44-50
Author(s):  
Keyword(s):  
Motion Control ◽  
Relative Motion ◽  
Control Algorithm ◽  
Robotic Systems ◽  
And Control

Some issues of creation and control of two-handed robotic systems are considered. Keywords: two-handed robot, relative manipulation mechanism, relative motion, control algorithm, assembly [email protected]

Dynamics modeling and control of active track tensioning system for tracked vehicle

2019 ◽  
Vol 26 (11-12) ◽  
pp. 989-1000
Author(s):  
Pingxin Wang ◽  
Xiaoting Rui ◽  
Hailong Yu ◽  
Bo Li
Keyword(s):  
Control Strategies ◽  
Stable Range ◽  
Dynamics Modeling ◽  
Modeling And Control ◽  
Flow Equations ◽  
Ground Pressure ◽  
Coupling System ◽  
Hydraulic Mechanism ◽  
And Control ◽  
Peak Value

Track assemblies are widely used to reduce vehicles’ ground pressure and improve their off-road performance. During off-road, the track tension has a significant effect on the performance of the crawler driving system. Previous control strategies only make use of the motions of partial road wheels. This paper develops a logical improvement to govern the motion of the track tensioner by using all road wheels. First, a dynamic model of the hydraulic-mechanism coupling system is established using the transfer matrix method for multibody systems and pressure-flow equations. Then, in order to get the angle of the idler arm, a modeling method of wheel envelope perimeter is developed, which is based on the locations of all wheels. Simulation results indicate that the control system maintains the wheel envelope perimeter almost constant while road wheels swing and decrease the possibility of peel-off and breakage of the track. It alleviates the track repeated stretch and keeps the tension in a stable range to reduce the fatigue damage. The control strategy can effectively reduce the peak value of the upper track tension during a vehicle passing through obstacles. This study suggests that the active track tensioning system can be implemented to improve the driving properties of tracked vehicles.

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