Web Enabled Robot Design and Dynamic Control Simulation Software: Solutions From Task Point Descriptions
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Authors
Sobh, Tarek M.
Wang, Bei
Patel, Sarosh
Issue Date
2003-11
Type
Article
Language
Keywords
Robot design , Modeling , Manipulability , Web-based , Trajectory generation , Optimization , Control loop simulation , Robot control , Dynamic control simulation , Engineering
Alternative Title
Abstract
In this work, we propose a web-based solution for robot design and dynamic control simulation based on given task point descriptions. The software combines and utilizes the computational power of both the Mathematica and Matlab packages. Given the location and velocity of each task point, our approach formulates the complete design of a 3 DOF robot model by computing its optimal dynamic parameters such as link length, mass and inertia. Further more, our package suggests the optimal control parameters (Kp, Kv) for the dynamic control simulation.
Description
Citation
Publisher
IEEE