This paper presents experimental analysis of wheeled mobile robots. Mathematical modelling of the mobile robot is presented. The mobile robots consist of an omni-directional and three differential drive mobile robots are tested and moved in given trajectories and the systematic errors of the robots are determined. A new method for omni-direction mobile robot was introduced in which the robot wa...

planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. the problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

Planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. The problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. Open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

The investigation of robot-environment interaction is the main aim of the RobotMODIC project at the Universities of Essex and Sheffield. The methods developed under this project model and characterise all aspects relevant to the robot’s operation: modelling of sensor perception (“environment identification” or simulation), sensor modelling, and task modelling. In this paper we describe a new pr...

Title Type neural network control of robot manipulators and non-linear systems series in systems and control PDF flexible robot manipulators modelling simulation and control control engineering series PDF modelling and control of robot manipulators advanced textbooks in control and signal processing PDF control of robot manipulators in joint space advanced textbooks in control and signal proces...

Rapid robotic system development sets a demand for multi-disciplinary methods and tools to explore and compare design alternatives. In this paper, we present collaborative modelling that combines discrete-event models of controller software with continuous-time models of physical robot components. The presented co-modelling method utilized VDM for discrete-event and 20-sim for continuous-time m...

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 ...

Using autonomous robot to detect chemical emissions and track plumes caused by fire, toxic gas leakage and explosive at their early stages, and swiftly localize their sources can avoid risking human health and potentially save lives. The benefits of deploying autonomous robot(s) rather than human beings in performing such hazardous tasks are obvious. Even though using real robots to research, d...

The RobotMODIC project run by the Universities of Essex and Sheffield investigates ways of quantitative description and accurate, transparent modelling of robot-environment interaction. Transparent, analysable models allow the evaluation of robot controllers with regard to issues such as stability, relevance of individual sensor perceptions for the control task at hand, and quantitative compari...

For high-speed control of robots, a good knowledge of system modelling is necessary to obtain the desired bandwidth. In this paper, we present a cartesian robot with a pan/tilt unit in end-effector (5 dof). This robot is implemented with powerful direct drive AC induction machines. The dynamic model, parameter identification and model validation of the robot are studied (including actuators). T...