Recent zbMATH articles in MSC 70E60https://zbmath.org/atom/cc/70E602024-03-13T18:33:02.981707ZWerkzeugA nonholonomic model and complete controllability of a three-link wheeled snake robothttps://zbmath.org/1528.370552024-03-13T18:33:02.981707Z"Artemova, Elizaveta M."https://zbmath.org/authors/?q=ai:artemova.elizaveta-markovna"Kilin, Alexander A."https://zbmath.org/authors/?q=ai:kilin.aleksandr-aleksandrovichSummary: This paper is concerned with the controlled motion of a three-link wheeled snake robot propelled by changing the angles between the central and lateral links. The limits on the applicability of the nonholonomic model for the problem of interest are revealed. It is shown that the system under consideration is completely controllable according to the Rashevsky-Chow theorem. Possible types of motion of the system under periodic snake-like controls are presented using Fourier expansions. The relation of the form of the trajectory in the space of controls to the type of motion involved is found. It is shown that, if the trajectory in the space of controls is centrally symmetric, the robot moves with nonzero constant average velocity in some direction.Robot workspace approximation with modified bicentered Krawczyk methodhttps://zbmath.org/1528.700132024-03-13T18:33:02.981707Z"Maminov, Artem"https://zbmath.org/authors/?q=ai:maminov.artem"Posypkin, Mikhail"https://zbmath.org/authors/?q=ai:posypkin.mikhail-aSummary: The article considers the application of numerical method based on bicentered Krawczyk operator for solving the problem of the robot workspace approximation with box constraints. We applied several modifications for approximation of the solution sets of the indeterminate system of nonlinear equations and compare it with basic method. All methods were tested on a passive orthosis robot, which is part of the lower limb rehabilitation system. A mathematical model of the mechanism kinematics is presented. We evaluate the efficiency of the considered approaches, compute and visualize the robot workspace for different parameters sets.
For the entire collection see [Zbl 1516.90004].Estimation of robot states with Poisson process based on EKF approximate of Kushner filter: a completely coordinate free Lie group approachhttps://zbmath.org/1528.700142024-03-13T18:33:02.981707Z"Rana, Rohit"https://zbmath.org/authors/?q=ai:rana.rohit"Gaur, Prerna"https://zbmath.org/authors/?q=ai:gaur.prerna"Agarwal, Vijyant"https://zbmath.org/authors/?q=ai:agarwal.vijyant"Parthasarathy, Harish"https://zbmath.org/authors/?q=ai:parthasarathy.harishSummary: In this paper, a Lie coordinate-free torque based Euler-Lagrange equations of motion are developed for a 3-D link (3-DOF) robot. Intentional torque and jerky torque (non-intentional torque) are considered as the inputs to the dynamic profile of the robot. The jerky torque is modelled as a superposition of compound Poisson processes, which is a unique feature. The state vector of the robot, i.e., angular position and angular velocity vector, is thus a Markov process whose transition probability generator can be expressed in terms of the rate of the compound Poisson process that defines the jerky torque. Proof of frame invariance is provided to support the coordinate-free robot dynamics profile. Noise-free measurement is investigated as an ideal case. Angular position measurement is considered with white Gaussian noise. Further, an implementable finite-dimensional EKF approximate to Kushner-Kallianpur filter is obtained to estimate the robot state vector. Finally, the simulations are implemented on commercially available Omni bundle robot.Dynamics of slender single-link flexible robotic manipulator based on Timoshenko beam theoryhttps://zbmath.org/1528.931632024-03-13T18:33:02.981707Z"Rao, Priya"https://zbmath.org/authors/?q=ai:rao.priya"Chakraverty, S."https://zbmath.org/authors/?q=ai:chakraverty.snehashish"Roy, Debanik"https://zbmath.org/authors/?q=ai:roy.debanikSummary: It is well known that irrespective of the joint signature, namely serial or articulated, a single-link manipulator has a great application in the field of robotics. For the study of dynamics of single-link manipulators, the conjugate problem is studied based on Timoshenko beam theory. Governing differential equations and the boundary conditions are usually considered as exact and the formulation leads to an eigenvalue problem where the elements of the matrices are in exact form. In view of the above, this chapter investigates the said problem in particular for a single-link semi-compliant flexible robotic manipulator. After the successful modelling of the single-link manipulator, with Timoshenko beam theory, the model has been compared with the existing calculation of an undamped Euler-Bernoulli cantilever beam as well, taking tip mass to be zero. The study extends further by taking tip mass to be non-zero and the results are compared with mass-loaded clamped-free Timoshenko beam. These comparisons are found to be in good agreement.
For the entire collection see [Zbl 1523.37002].