Browsing by Issue Date, starting with "1991-05-22"
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- Towards the statistical modelling of robotic manipulatorsPublication . Galhano, Alexandra; Carvalho, J. L. Martins de; Tenreiro Machado, J. A.A novel approach to the modelling of robot manipulators is presented. Usually, system descriptions are based on a set of differential equations which, due to their nature, lead to very precise results and strategies. However, they need laborious computations and, therefore, methods based on alternative mathematical concepts are required. The proposed statistical model overcomes thes problems and gives clear guidelines towards the optimization of the robot performances.
- On the evaluation of computer systems for robot controlPublication . Tenreiro Machado, J. A.; Carvalho, J. L. Martins de; Galhano, AlexandraThe high computational burden posed by modern control algorithms precludes its industrial application using present day microcomputers. In this paper we evaluate the calculation load of different logical and arithmetic operations and the capabilities of several computer systems. Thisanalysis reveals that some limitations can be alleviated through the adoptation of techniques associated with data representation. Such techniques achieve not only a more efficient management of the computational resources but also provide a deeper insight on developments towards future control architectures.