Title :
Web enabled robot design and dynamic control simulation software solutions from task points description
Author :
Sobh, Tarek M. ; Wang, Bei ; Patel, Sarosh H.
Author_Institution :
Dept. of Comput. Sci. & Eng., Bridgeport Univ., CT, USA
Abstract :
In this work, we propose a Web-based solution for robot design and dynamic control simulation based on given task point descriptions. The software combines and utilizes the computational power of both the Mathematica and Matlab packages. Given the location and velocity of each task point, our approach formulates the complete design of a 3 DOF robot model by computing its optimal dynamic parameters such as link length, mass and inertia. Further more, our package suggests the optimal control parameters (Kp, Kv) for the dynamic control simulation.
Keywords :
Internet; control engineering computing; control system synthesis; optimal control; robots; software packages; 3 DOF robot model; Mathematica; Matlab; Web enabled robot design; dynamic control; optimal control parameters; optimal dynamic parameters; simulation software; task point description; Computational modeling; Cost function; Design optimization; Kinematics; Manipulators; Mathematical model; Optimal control; Orbital robotics; Packaging; Robot control;
Conference_Titel :
Industrial Electronics Society, 2003. IECON '03. The 29th Annual Conference of the IEEE
Print_ISBN :
0-7803-7906-3
DOI :
10.1109/IECON.2003.1280227
