Browsing by Issue Date, starting with "1997-07-07"
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- Embedding statistics and Fourier transform towards the harmonic modelling of robot manipulatorsPublication . Tenreiro Machado, J. A.; Galhano, AlexandraA new approach to the analysis and design of robot manipulators is presented. The novel feature resides on a non-standard formulation to the modelling problem. Usually, system descriptions are based on a set of differential equations which, in general, require laborious computations and may be difficult to analyse. These facts motivate the need of alternative models based on different mathematical concepts. The proposed statistical approach to the Fourier modelling gives clear guidelines towards the optimisation of the robot kinematics and point out structural characteristics of the trajectory planning algorithms.
- A novel method for the modelling of mechanical manipulatorsPublication . Tenreiro Machado, J. A.; Galhano, AlexandraA new approach to the analysis and design of robot manipulators is presented. The novel feature resides on a non-standard formulation to the modelling problem. Usually, system descriptions are based on a set of differential equations which, in general, require laborious computations and may be difficult to analyse. These facts motivate the need of alternative models based on different mathematical concepts. The proposed statistical approach to the Fourier modelling gives clear guidelines towards the optimisation of the robot kinematics and point out structural characteristics of the trajectory planning algorithms.
- Biped locomotion systems: A kinematic point of viewPublication . Silva, Filipe M.; Tenreiro Machado, J. A.This paper presents the kinematic study of robotic biped locomotion systems. The main purpose is to determine the kinematic characteristics and the system performance during walking. For that objective, the prescribed motin of the biped is completely characterised in terms of five locomotion variables: step length, hip height, maximum hip ripple, maximum foot clearance and link lengths. In this work, we propose three methods to quantitatively measure the performance of the wlaking robot: perturbation analysis, lowpass frequency response and locomobility measure. These performance measures are discussed and compared in determining the robustness and effectiveness of the resulting locomotion.
- Kinematic evaluation of robotic biped locomotion systemsPublication . Silva, Filipe M.; Tenreiro Machado, J. A.This paper presents the kinematic study of robotic biped locomotion systems. The main purpose is to determine the kinematic characteristics and the system performance during walking. For that objective, the prescribed motion of the biped is completely characterised in terms of five locomotino variables: step length, hip height, maximum hip ripple, maximum foot clearance and link lengths. In this work, we propose three methods to quantitatively measure the performance of the walking robot: perturbation analysis, lowpass frequency response and locomobility measure. These performance measures are discussed and compared in determining the robustness and effectiveness of the resulting locomotion.