In this paper, real-time fine motion control of a nonholonomic mobile robot is investigated, where the robot dynamics is completely unknown and is subject to significant uncertainties. A novel neural network based real-time controller is developed. The neural network assumes a single layer structure, by taking advantage of the robot regressor dynamics that express the highly nonlinear robot dyn...

the well-known electro-mechanical analogy that equates current, voltage, resistance, inductance and capacitance to force, velocity, damping, spring constant and mass has a shortcoming in that mass can only be used to simulate a capacitor which has one terminal connected to ground. a new model that was previously proposed by the authors that combines a mass with a pulley (mp) is shown to simulat...

This paper proposes a new model of a one-legged hopping robot. The one-legged hopping robot is useful in realizing rapid movement such as that of a running animal. Although it has a simple leg mechanism, the dynamics are not simple and require non-linear complex analysis. This means that it is not easy to derive a controller for stable hopping in a systematic way. Therefore, a dynamics-based ap...

Abstract Machines and mechanisms realize processes, from the shaping process of a milling machine motion an automotive system to trajectory realization robot. The dynamics generated by properly chosen set constraints in combination with appropriate drive is designed meet prescribed requirements process, which done projecting equations on dynamics. We get nonlinear relations, represent terms req...

A new robot toolbox for dynamics simulation based on MATLAB Graphical User Interface (GUI) is developed for educational purposes. It is built on the previous version named as ROBOLAB performing only the kinematics analysis of robot manipulators. The toolbox presented in this paper provides interactive real-time simulation and visualization of the industrial robot manipulator’s dynamics based on...

this paper proposes a gait planning approach to reduce the required friction for a biped robot walking on various surfaces. to this end, a humanoid robot with 18 dof is considered to develop a dynamics model for studying various 3d manoeuvres. then, feasible trajectories are developed to alleviate the fluctuations on the upper body to resemble human-like walking. in order to generate feasible w...

To coordinate the robot manipulator along the desired trajectory, the exact model of the dynamics is required. The added mass and added moment of inertia, buoyancy, drag force, and friction mainly affect the dynamics of the undersea robot manipulator, and they are quite complex and unknown. In this reason, the exact model of the undersea robot manipulator is difficult to obtain. In this paper, ...

This paper presents two approaches to modelling of mobile robot dynamics. First approach is based on physical modelling and second approach is based on experimental identification of mobile robot dynamics features. Model of mobile robot dynamics can then be used to improve the navigational system, especially path planing and localization modules. Localization module estimates mobile robot pose ...