Juniper Publishers| Robotics Engineering


Linear Algebra Continuous Dynamic Control for WMR



Authored by Sebastian  Godoy


A trajectory tracking controller for wheeled mobile robot (WMR) is presented in this paper. The approach is based on the dynamic model of a nonholonomic mobile robot. The nonlinear dynamic model is used to find the expression of the control actions which make the robot follow a desired trajectory. The methodology for controller design is based in Linear Algebra theory. Experimental results in a Pioneer 3DX mobile robot are presented and compared with other approach of the literature.

To read more… Full Text in Robotics & Automation Engineering Journal  in Juniper Publishers

Comments

Post a Comment

Popular posts from this blog

Geometric Simulation for 3D-Printed Soft Robots- Juniper Publishers

Image
Juniper Publishers- Journal of Robotics Introduction Robots fabricated by soft materials can provide higher flexibility and thus better safety while interacting with natural objects with low stiffness such as food and human beings. With the growth of three-dimensional (3D) printing, it is even possible to directly fabricate soft robots [1,2] with complex structures and multiple materials realizing highly dexterous tasks like human-interactive grasping and confined area detection [3]. However, with such increased degrees of freedom (DoF), the design of soft robots becomes a very difficult task. It can be made possible by integrating simulation into the design phase. However, the shape deformation comes from many different and complex factors including manufacturing process, material properties, actuation, etc. Especially with the limited understanding of layer-based additive process in AM, it is challenging to formulate a complete mathematical model for the simul
Read more

Industry 4.0`S Product Development Process Aided by Robotic Process Automation- Juniper Publishers

Image
Juniper Publishers- Journal of Robotics Opinion As well defined on the journal`s site Robotic Process Automation (RPA) is the application of technology that allows employees in a company to configure computer software or a “robot” to capture and illustrate existing applications for processing a transaction, managing data, provoke responses and communicating with other digital systems. Product Development Process (PDA) is a key element for implementing Industry 4.0 and as defined in literature it consists of integrating six main elements: requirement, definition, design, production, maintenance and recycling [1-3]. So, in order to implement Industry 4.0 fast and costless we need to capture and illustrate existing applications as well as new ones for processing ensuring a reliable product-life cycle [4] and to efficiently process transactions, assuring smart services, manage big data and communicate with other digital systems. In other words Industry 4.0 is r
Read more

Research on Electromagnetic Driving Robot Fish-Juniper Publishers

Image
Juniper Publishers-Journal of Robotics Abstract Based on the actual physical appearance of the tuna and the wave equation derived from observing its swimming locomotion, this paper proposes a new idea on the simulation and modeling of the robot fish and a novel way of thinking on kinetic analysis. The motion law for each joint of the robot fish was first obtained through the discrete fitting method and the motion law was subsequently used as the basis for the robot fish electromagnetic drive control signal. The fluent flow field analysis software was utilized. The meshing of the fluid around the fish body was performed by using the dynamic grid technique. The surface pressure values of the fish body during the steady state forward movement were analyzed, and the values of the driving force of each part of the fish were obtained. It was then determined that the electromagnetic drive caudal fin robot fish was the optimal design. Based on the idea of digital-analog c
Read more