Papers by Keyword: Robot Dynamics

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Authors: Danut Receanu
Abstract: The paper presents the nonlinear torsional vibrations control of the joints in an articulated industrial robot, in Simulink /MATLAB. In this case, it is considered the classical linear control combined with compensations of the natural discontinuous nonlinearities in a robot with low speed.
Authors: Mohamed Laid Hadjili, Kamel Kara, Oussama Ait Sahed, Jamal Bouyanzar
Abstract: In this work a fuzzy model-based predictive control (FMPC) method that uses modified particle swarm optimization (PSO) is presented. The main objective of this work is the application of this method to the control of a Selective Compliant Assembly Robot Arm (SCARA) with four degrees of freedom (4-DOF).
Authors: Yunn Lin Hwang, Chien Hsin Chen, Shen Jenn Hwang, Nguyen Xuan Mai
Abstract: The main objective of this paper is to simulate the mobility of humanoid robot. Simulation method implemented by using RecurDyn, one can analyze the kinematics and dynamics of BIOLOID humanoid robot. Moreover, the analysis of mobility will be discussed. In this paper, the Zero-Moment Point and Forward Dynamics methods are also introduced to the dynamic analysis of humanoid robot. Finally, the simulation results show that the algorithms developed in this paper can efficiently enhance the stability of the humanoid robot.
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