Browsing by Issue Date, starting with "1990-08-20"
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- Computer system evaluation in robot controlPublication . Tenreiro Machado, J. A.; Carvalho, J. L. Martins de; Galhano, AlexandraThe high computational burden posed by mordern control algorithms preclude its industrial application using present day microcomputers. In this paper we evaluate the computational load of different logical and arihmetic operations and the capabilities of several computing systems (software & hardware). This study reveals that real-time limitations can be alleviated through the adoption of general techniques achieve not only a more efficient management of the computational resources but also provide a deeper insight on developments towards future real-time control architectures.
- Statistical modelling of robot manipulatorsPublication . Galhano, Alexandra; Tenreiro Machado, J. A.; Carvalho, J. L. Martins deA novel approach to the modelling of robot manipulators is presented. Usually, system descriptions are based on a set od differential equations which, due to their nature, lead to very precise results and strategies but, in general, require laborious computations. This motivates the need of alternative methods based on other mathematical concepts. The proposed statistical model gives clear guidelines towards the robot kinematic and dynamic optimization and the definition of rest and active manipulation regions. Furthermore, the results point out ideal properties for the actuators namely as "position and acceleration" devices instead of "velocity" machines. This observation is utmost importance as it gives a basis to new mechanical robot manipulator structures, with performances close to biomechanical systems.