Browsing by Issue Date, starting with "2000-09-21"
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- Chaotic behavior in the pseudoinverse control of redundant and hyper-redundant robotsPublication . Duarte, Fernando B. M.; Tenreiro Machado, J. A.Several kinematic control algorithms for redundant manipulators adopt generalized inverse matrices. In this line of thought, the generalized inverse control scheme is tested through experiments that reveal the difficulties that often arise. The experiments confirm the non-linear and chaotic performance of the algorithm and give a deeper insigth towards the future development of superior trajectory control systems.
- Hybrid position/force algorithms for biped locomotionPublication . Silva, Filipe M.; Tenreiro Machado, J. A.This paper addresses the problem of modelling and control of a biped robot by combining Cartesian-based position and force control algorithms. The complete wlaking cycle is divided in two phases: i) single support - in which it is studied the trajectory controllability based on simple motion goals and ii) exchange of support - in which the foward leg should absorb the impact and then gradually accept the robot's weight. The contact of the foot with the constrained durface is modelled through linear spring-damper systems. The control algorithms are simulated and their effectiveness and robustness are discussed.
- Roblib: An educational program for roboticsPublication . Ferreira, N. M. Fonseca; Tenreiro Machado, J. A.The paper presents a program for robotics education that runs on standard PC's under the Microsoft environment. The RobLib package is designed for undergraduate students and emphasis the fundamental aspects of robot modelling and control. The software is self-explanatory and uses menus, dialog boxes with figures and context-dependent on-line help. In this perspective, students are motivated to investigate on the workspace, kinematics, dynamics, trajectory planning, position and for control of manipulators. Based on this first experience, further studies on robotics, using more sophisticated packages and concepts, are, then, more attractive from the students point of view.