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Romansy 14 pp 201-212 | Cite as

Computer Control of a Robot for Realization of a Smooth Motion

  • Simeon Panev
  • Michel Fayet
Part of the International Centre for Mechanical Sciences book series (CISM, volume 438)

Abstract

The robot “NOSTRADAMUS” is a parallel structure with two arms, each of them possessing 3 revolute joints (fig. 1). Each arm ends with a sphere connected with a spherical joint to the base moved by two friction wheels linked to two motors M1 and M2 (Fig. 2-a). The parameters of motion are the Euler’s angles (Figure 2-b). From the variational problem for realizing smooth motion of the robot in presence of a nonholonomic constraint we can find the Euler angles in function of time and three integral constants. The latter are determined by the limit conditions which introduce a strongly nonlinear constraint between them. The laws of the engines’ movements provoking displacement of the sphere are obtained.

Keywords

Limit Condition Integration Constant Euler Angle Computer Control Revolute Joint 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Reference

  1. S. Panev, M. Fayet. Sur une tache variationnelle de la commande d’un robot. Science, Conference or Analysis and Synthesis of the Mechanisms and Machines. Sofia, BUL’01.Google Scholar
  2. S. Panev and M.Fayet. Determination of the integration constants from a variation problem, related to the control of a robot. 0 National Congress for Theoretical and Applied Mechanics,Vama, BUL’01.Google Scholar
  3. S. Panev and M. Fayet. Determining the laws of movement of the engines from the control of a robot, 91h National congress for Theoretical and applied mechanics. Vama, BUL’01.Google Scholar
  4. M. Fayet, S. Greffe, M. Betemps. A six degree of freedom robot controled by for motors only—Romansy 12- Paris- July 98. pp. 45–152-Springer Wien New York.Google Scholar

Copyright information

© Springer-Verlag Wien 2002

Authors and Affiliations

  • Simeon Panev
    • 1
  • Michel Fayet
    • 2
  1. 1.Department of Applied MechanicsUniversity of Chemical Technology and MetallurgySofiaBulgaria
  2. 2.Institut National des Sciences Appliquées de LyonVilleurbanneFrance

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