Browsing by Issue Date, starting with "2000-10-04"
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- Teaching robot modelling and control with RobLibPublication . 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 Windows 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 perpective, students are motivated to investigate on the workspace, kinematics, dynamics, trajectory planning, position and force 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.
- Position/force control of biped locomotion systemsPublication . 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 walking cycle is divided in two phases: sinlge support, in which one leg is in contact with the ground and the other leg swings foward, and double support, in which the foward leg absorbs the impact and gradually accepts the robot's weight. The contact of the foot with the constrained surface is modelled through linear spring-damper systems. The proposed control approach is based on simple motion goals taking into account the reaction forces between the feet and the ground. The control algorithm is tested through several experiments and its effectiveness and robustness is discussed.