scholarly journals Kinematic and Dynamic Modelling of Serial Robotic Manipulators Using Dual Number Algebra

10.5772/33148 ◽  
2012 ◽  
Author(s):  
R. Tapia ◽  
Samuel M. ◽  
Jesus A. Meda C. ◽  
Alejandro S.
Keyword(s):  
Dynamic Modelling ◽  
Robotic Manipulators ◽  
Dual Number

Numeric-Symbolic Approach for Dynamic Modelling of Robotic Manipulators

1992 ◽  
Author(s):  
Shou-wen Fan ◽  
Liju Xu ◽  
Yong Chen
Keyword(s):  
Reaction Force ◽  
Dynamic Modelling ◽  
Robotic Manipulators ◽  
Symbolic Form ◽  
Symbolic Method ◽  
Model Matrix ◽  
Robotic Dynamics ◽  
Symbolic Approach ◽  
Driving Torque ◽  
Generate Model

Abstract A simple numeric-symbolic method for dynamic modelling of robotic manipulators is proposed in this paper. Problem of deriving model matrix elements is transformed into problem of solving for driving force and driving torque under specified condition by recursive dynamic equations. Expressions of reaction force in arbitrary joint in numeric-symbolic form are also derived. Corresponding software which can recognize and manipulate symbols is developed and can be used to generate model and real-time code of robotic dynamics.

scholarly journals Dynamic Modelling of Flexible Manipulator System Using Genetic Algorithm

2012 ◽  
Vol 60 (2) ◽  
pp. 239-245
Author(s):  
M. S. Alam
Keyword(s):  
Genetic Algorithm ◽  
Dynamic Modelling ◽  
Robotic Manipulators ◽  
Comparative Assessment ◽  
Flexible Manipulator ◽  
Structural Optimisation ◽  
Fitness Sharing ◽  
System A ◽  
New Variant ◽  
And Control

Flexible robotic manipulators pose various challenges in modelling, design, structural optimisation and control. This paper presents investigations into practical dynamic modelling of a flexible manipulator system using genetic algorithm (GA). Conventional genetic algorithms (GAs) often converge prematurely to a suboptimal region and fail to provide effective solutions due to lack of diversity in the population set as the algorithm proceeds. In order to improve and maintain diversity in the population set, a relatively new variant of GA, namely, fitness sharing based replacement genetic algorithm (FSR-GA1) is employed where some individuals are replaced periodically based on a fitness sharing method. The algorithm is utilised to extract dynamic model of 1-DOF (degree of freedom) motion of a flexible manipulator system. A comparative assessment between FSR-GA and conventional GA is presented in the same application to highlight the novelty of the used GA. Results show that the FSR-GA significantly improves the searching capability of the optimisation process compared to conventional GA. Time domain and frequency domain results clearly reveal the potential of the proposed method in modelling flexible manipulator systems.DOI: http://dx.doi.org/10.3329/dujs.v60i2.11526 Dhaka Univ. J. Sci. 60(2): 239-245, 2012 (July) 

Dynamic modelling of the sugar extraction process from sugar beet

2010 ◽  
Vol 3 (1) ◽  
pp. 49-56 ◽  
Author(s):  
Navid Mostoufi ◽  
Ali Faridkhou ◽  
Rahmat Sotudeh Gharebagh ◽  
Hamid Reza Norouzi
Keyword(s):  
Sugar Beet ◽  
Dynamic Modelling ◽  
Extraction Process ◽  
Sugar Extraction
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