摘要:

AbstractA new method for assessing the performance of a robotic system performing a high‐precision task has been developed. The method utilizes an entropy‐based formulation to provide a measure of the reliability of a robotic system with respect to a task specification. The derivation of the proposed technique is presented, including two alternative formulations that differ in terms of their complexity and level of approximation. Methods for combining these measures for complex robotic tasks are detailed. The new method is demonstrated in a case study involving a robotic assembly system, in which the entropy formulation is used to select an optimal system design from a set of alternatives. (c)1995 John Wiley&Sons,

ISSN:0741-2223    

DOI:10.1002/rob.4620120902

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1995

数据来源: WILEY

摘要:

AbstractDiscontinuous gaits for walking machines have not yet been properly studied. Research has focused on the investigation, comprehension, and mathematical formulation of natural gaits. These gaits feature the fact that the body is in constant motion. The results have been significant, but they seem more adequate for animals than machines. On the other hand, discontinuous gaits, executed by animals under extreme conditions, exhibit excellent attributes for implementation in walking machines. This article presents a comparative study of continuous and discontinuous gaits with regard to their maximum achievable velocity and stability. Other aspects such as implementation in real machines, power requirements, and control under terrain difficulties are mentioned briefly. An elemental discontinuous gait is stated, and some variations on deriving crab and turning gaits are performed. Different methods for enlarging the achievable crab angle and improving stability are discussed for discontinuous crab gaits. A similar study is also done for turning gaits. (c)1995 John Wiley&Sons, Inc.

ISSN:0741-2223    

DOI:10.1002/rob.4620120903

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1995

数据来源: WILEY

摘要:

AbstractThis article presents the second part of a research work devoted to modeling and control of robots with flexible links. First, we recall the generalization of the Newton Euler equations for an open chain of flexible links. These equations constitute an original dynamic model because they represent the dynamic behavior of the chain with a mixed formalism, because it is both Lagrangian and Eulerian. This formalism allows us to find the linear intrinsic dynamic model of links. Second, we exhibit the constrained nature of these equations. We use a numerical integration method for a constrained system, and an updating procedure well suited to our particular formalism. Finally, simulation results on spatial kinematics involving up to three links are reported. (c)1995 John Wiley&Sons, Inc.

ISSN:0741-2223    

DOI:10.1002/rob.4620120904

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1995

数据来源: WILEY

摘要:

AbstractThis article deals with a real‐time model inverting system. The mathematical inverting problem is no longer solved with a mathematical algorithm but through the design of the system control itself. The control algorithm is issued from human knowledge. The stability of this system is proved, and the properties are discussed. This system can be used where a geometric model should be inverted in real time, especially for redundant robots. (c)1995 John Wiley&Sons, In

ISSN:0741-2223    

DOI:10.1002/rob.4620120905

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1995

数据来源: WILEY

ISSN:0741-2223    

DOI:10.1002/rob.4620120901

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1995

数据来源: WILEY