This paper presents a modelling and identification method for a wheeled mobile robot, including the actuator dynamics. Instead of the classic modelling approach, where the robot position coordinates (x, y) are utilized as state variables (resulting in a non linear model), the proposed discrete model is based on the travelled distance increment ∆l. Thus, the resulting model is linear and time in...

In this paper, we present arguments for the need of emotion modelling and we define elements for a study in Human-Robot Interaction (HRI) using music. We also propose an adaptation of our generic model of emotions (GRACE) to give a precise idea of how to design emotional intelligence for a robot with music-related abilities.

This paper will deal with the precise modelling and analysis of an industrial robot (Puma560) and a legged robot. These two configurations are analyzed because the PUMA 560 is the widely used robot in the industry and legged motion is far superior to the wheeled locomotion. The modelling and analyze is done by using a very powerful simulator called the MATLAB (Robotic Toolbox). The programme an...

This paper presents the current development stage of our approach to industrial robot programming, that is the graphical interface for our environment, that is based on the well-known Grafcet. Our approach focus on the modelling of the system, rather than on the robot. So, it will improve the programming and maintenance tasks, allowing the reuse of source code.

This report studies robot modelling by means of the computer algebra tool Maple. First coordinate systems are described, and the more general way with transformation matrices is chosen in the further work. The position kinematics of the robot are then described by homogeneous transformations. The Denavit-Hartenberg representation is used, which is a systematic way to develop the forward kinemat...

mobile robot navigation is one of the basic problems in robotics. in this paper, a new approachis proposed for autonomous mobile robot navigation in an unknown environment. the proposedapproach is based on learning virtual parallel paths that propel the mobile robot toward the trackusing a multi-layer, feed-forward neural network. for training, a human operator navigates themobile robot in some...

Autonomous robot world modelling is a “chicken-and-egg” problem: position estimation needs a model of the world, whereas world modelling needs the robot position. Most of the works dealing with this issue propose holistic solutions under an algorithmic perspective by neglecting software architecture issues. This results in huge and monolithic pieces of software where implementation details reif...

This contribution presents the experimental verijcation of the newly developed Hamilton-based dynamic model ofDELTA direct drive parallel robot by measurements of DELTA robot's motor torques. The strain gage technology was applied. The experiment is in author's opinion the Jirst ever for robot DELTA. The experimental results validate the modelling of robot DELTA as a Aystem of rigid bodies, con...

The vibration of robot joint reducer is the main factor that causes vibration or motion error of robot system. To improve the dynamic precision of robot system, the cycloid ball transmission used in robot joint is selected as study object in this paper. An efficient dynamic modelling method is presented-lumped stiffness method. Based on lumped stiffness method, a translational-torsional couplin...

Fundamental sensor-motor couplings form the backbone of most mobile robot control tasks, and often need to be implemented fast, efficiently and nevertheless reliably. Machine learning techniques are therefore often used to obtain the desired sensor-motor competences. In this paper we present an alternative to established machine learning methods such as artificial neural networks, that is very ...