Real time motion generation and control for biped robot -3rd report: Dynamics error compensation-

2009 ◽  
Author(s):  
Toru Takenaka ◽  
Takashi Matsumoto ◽  
Takahide Yoshiike
Keyword(s):  
Real Time ◽  
Error Compensation ◽  
Biped Robot ◽  
Motion Generation ◽  
Time Motion ◽  
And Control

Study on the Motion Generation Method of Gun Training Simulator

2012 ◽  
Vol 182-183 ◽  
pp. 1673-1680
Author(s):  
Yu Wang ◽  
Ri Na Su
Keyword(s):  
Real Time ◽  
Driving Force ◽  
Motion Simulation ◽  
Motion Generation ◽  
Motion Platform ◽  
Training Simulator ◽  
Simulation Experiments ◽  
Optimize Design ◽  
Homogeneous Matrix ◽  
And Control

A kind of 3-RPS and 3-DOF parallel robotic mechanisms is used as motion-sensible-platform of gun training simulator to implement the motion simulation. Its dynamics is analyzed and driving force of joint is gained. This paper introduces the study on motion generation of gun training simulator. The moving model of gun is established on the basis of the model of vehicle. We solve the pose of gun by applying the theory of homogeneous matrix. In order to ensure actuators moving at a preset speed and enable the motion-sensible-platform to perform a real-time moving posture simulation of a wheeled gun vehicle in running, the speed equation of actuator is given. The feasibility of models was tested through the simulation experiments. All of these works are beneficial to optimize design and control realization of motion platform structure.

scholarly journals Least Conservative Linearized Constraint Formulation for Real-Time Motion Generation

2020 ◽  
Vol 53 (2) ◽  
pp. 9384-9390
Author(s):  
Bárbara Barros Carlos ◽  
Tommaso Sartor ◽  
Andrea Zanelli ◽  
Moritz Diehl ◽  
Giuseppe Oriolo
Keyword(s):  
Real Time ◽  
Motion Generation ◽  
Time Motion
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