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On the Functional Controllability Using a Geometric Approach Together with a Decoupled MPC for Motion Control in Robotino
Abstract—This paper proposes a functional controller for motion control of the Robotino. The proposed controller takes under consideration a functional decoupling control strategy realized using a geometric approach and the invertibility property of the DC-drives with which the Robotino is equipped. For a given control structure the functional controllability is proven for motion trajectories o...
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This paper deals with dynamic analysis of mobile robot equipped with three omni-directional wheels. The mobile robots contain subsystems from different physical domains and in the paper bond graphs are chosen as an appropriate technique for modelling and simulation. Model of Robotino mobile robot is developed and simulation is performed using the program BondSim, developed by the first author o...
متن کاملModelling of mobile robot with on board redundant manipulator arm
Manipulators with mobile base are gaining momentum in the industry due to improved workspace and flexible adaptability to changes in the product designs. Although there has been research in this field for a considerable time, many issues are still to be resolved viz. obstacle avoidance, redundancy resolution for singularity avoidance, dynamic analysis of combined manipulator and a mobile robot,...
متن کاملDifferent Applications of Mobile Robots in Education
This paper presents different possibilities of using mobile robots in education. Through the application of mobile mechatronic robotic system "Robotino" this paper shows the possibilities of developing interactive lectures and exercises in order to raise the quality of education and to provide new competencies for students. Application of robot as a real system supports strengthening specific a...
متن کاملNovel approximations for inference and learning in nonlinear dynamical systems
We formulate the problem of inference in nonlinear dynamical systems (NLDS) in the Expectation-Propagation framework, and propose two novel inference algorithms based on Laplace approximation and the unscented transform (UT). The algorithms are compared empirically and employed as an improved E-step in a conjugate gradient learning algorithm. We illustrate its use for data mining with two high-...
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تاریخ انتشار 2011