The paper presents the dynamics of a 2R planar articulated robot, developed by two original methods. One is classical “Lagrangian” adapted author, and second method absolutely original. robot are based in both cases on variation inertial forces mechanism, or practically influence masses moving elements robot. external loads, weights load to be transported also taken into account. Another elemen...

A tractor losing lateral stability starts to rollover. It is a matter of fact that rollover accidents are one the most frequent causes death and injuries for farmers. Consequently, tractors fitted with specific protective structure minimize consequences driver during (ROPS). The narrow-track tractor, designed operate in vineyards orchards, category very narrow track width risk higher. aim study...

We propose a novel unifying scheme for parallel implementation of articulated robot dynamics algorithms. It is based on a unified Lie group notation for deriving the equations of motion of articulated robots, where various wellknown forward algorithms differ only by their joint inertia matrix inversion strategies. This new scheme leads to a unified abstraction of state-of-the-art forward dynami...

The present paper attempts to systematically identify the significant factors influencing the dynamic performance of robot manipulators. Two 3-RRR robot configurations planar and articulated arms are considered here to study. The robots kinematic and dynamic models are symbolically formulated. A simulation program has been developed to measure the dynamic performance of the robot manipulators u...

This paper deals with motion planning for a mobile robot on rough terrain. We proposed in 9] a geometrical planner for articulated robots which can take into account uncertainty on the terrain and on the position of the robot. This paper aims at improving the robustness of the trajectory using landmark based approach. We consider regions of the terrain where natural landmarks are visible. We pr...

(FFNN) is used to compensate for the robot dynamics. The FFNN computes the required torques to drive the robot manipulator to achieve desired tracking. The stability of combined PI kinematic and FFNN computed torque is proved by Lyapunov theory. Simulation results are carried out for 3 DOF articulated robot manipulator to evaluate the controller performance.

We describe a new Compliant Articulated Robot Leg, CARL, which we constructed as a prototype for an autonomous robot quadruped. The leg has been designed for dynamic walking, trotting and bounding gaits, with an expected top speed of 3m=s. It is an articulated 4 degree of freedom design with revolute joints as opposed to prismatic joints for improved mobility, simplicity and low friction. It em...