scholarly journals Design Process of High Dynamics Multi-Link Flexible Robot Manipulators

2017 ◽  
Author(s):  
Thomas Solatges ◽  
Mathieu Rognant ◽  
Sébastien Rubrecht ◽  
Eric Courteille ◽  
Philippe Bidaud
Keyword(s):  
Design Process ◽  
Performance Indicators ◽  
Robot Manipulators ◽  
Experimental Results ◽  
Control Architecture ◽  
Flexible Robot ◽  
Flexible Robots ◽  
Modeling Tool ◽  
And Performance ◽  
High Dynamics

This paper presents a design process based on an advanced flexible robots modeling tool associated with realistic actuators models and pre-defined control architecture. This process implements dedicated feasibility and performance indicators, which are used to evaluate a design and its sensitivity on the considered parameters. The proposed approach is illustrated with theoretical and experimental results obtained with the YAKA robot.

Dynamics and Motion Control of Flexible Manipulators With Multi-Degree of Kinematic Redundancy

2005 ◽  
Author(s):  
Yue-Qing Yu ◽  
Ji-Yun Yang
Keyword(s):  
Motion Control ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Flexible Manipulator ◽  
Flexible Manipulators ◽  
Kinematic Redundancy ◽  
Flexible Robot ◽  
Flexible Robots ◽  
Dynamic Performances ◽  
Self Motion

The dynamics and motion control of flexible robot manipulators is an advanced topic in the study of robotics. The precise tracking of the end-effector trajectory of flexible robots can be improved by the self-motion of redundant manipulators. The flexible manipulator with single-degree of kinematic redundancy has been considered only at present. This study addresses on the dynamics and motion control of flexible robots with multi-degree of kinematic redundancy. Compared with the robot with one-degree of redundancy, the optimal motion programming of a flexible robot manipulator with two-degree of redundancy has been obtained successfully based on pseudo-inverse solution. The numerical results of planar three-link and four-link flexible manipulators show the advantage of multi-degree of redundancy in improving the kinematic and dynamic performances of flexible robot manipulators.

Motor Measure and Control Software Design Based on LabVIEW

2014 ◽  
Vol 1014 ◽  
pp. 323-328
Author(s):  
Wei Yan ◽  
Wei Yao
Keyword(s):  
Software Design ◽  
Performance Indicators ◽  
Experimental Results ◽  
Control Software ◽  
Hardware Platform ◽  
Industrial Areas ◽  
Motor Test ◽  
Series Of Experiments ◽  
And Performance ◽  
And Control

Motor plays an important role in industrial areas. It is necessary to get the motor parameters and performance indicators by a series of experiments before they are used. For motor test hardware platform, a software based on LabVIEW is designed. It has an easy-operating interface and makes an experiment easy and automatic. Experimental results show that the software has good practicality.

Flexible Robot Manipulators: Modelling, Simulation and Control

2017 ◽  
Author(s):  
M. O. Tokhi ◽  
A. K. M. Azad
Keyword(s):  
Robot Manipulators ◽  
Flexible Robot ◽  
Simulation And Control ◽  
And Control ◽  
Modelling Simulation

Platform Independent Analysis of Probabilities on Multithreaded Programs

2013 ◽  
Vol 1 (3) ◽  
pp. 48-65
Author(s):  
Yuting Chen
Keyword(s):  
Operating System ◽  
Static Analysis ◽  
Main Idea ◽  
Experimental Results ◽  
Machine To Machine ◽  
Concurrent Program ◽  
Acceptable Accuracy ◽  
Multithreaded Programs ◽  
Independent Analysis ◽  
And Performance

A concurrent program is intuitively associated with probability: the executions of the program can produce nondeterministic execution program paths due to the interleavings of threads, whereas some paths can always be executed more frequently than the others. An exploration of the probabilities on the execution paths is expected to provide engineers or compilers with support in helping, either at coding phase or at compile time, to optimize some hottest paths. However, it is not easy to take a static analysis of the probabilities on a concurrent program in that the scheduling of threads of a concurrent program usually depends on the operating system and hardware (e.g., processor) on which the program is executed, which may be vary from machine to machine. In this paper the authors propose a platform independent approach, called ProbPP, to analyzing probabilities on the execution paths of the multithreaded programs. The main idea of ProbPP is to calculate the probabilities on the basis of two kinds of probabilities: Primitive Dependent Probabilities (PDPs) representing the control dependent probabilities among the program statements and Thread Execution Probabilities (TEPs) representing the probabilities of threads being scheduled to execute. The authors have also conducted two preliminary experiments to evaluate the effectiveness and performance of ProbPP, and the experimental results show that ProbPP can provide engineers with acceptable accuracy.

scholarly journals Comparative analysis of models and performance indicators for optimal service facility location

2021 ◽  
Vol 145 ◽  
pp. 102174
Author(s):  
Edoardo Fadda ◽  
Daniele Manerba ◽  
Gianpiero Cabodi ◽  
Paolo Enrico Camurati ◽  
Roberto Tadei
Keyword(s):  
Comparative Analysis ◽  
Facility Location ◽  
Performance Indicators ◽  
Service Facility ◽  
Optimal Service ◽  
And Performance

Twenty Years After the Hype

2015 ◽  
Vol 2 (2) ◽  
pp. 1-21 ◽  
Author(s):  
Alois Paulin
Keyword(s):  
Performance Indicators ◽  
The State ◽  
Government Performance ◽  
Before And After ◽  
To Come ◽  
And Performance ◽  
Government Reforms

In this study the authors analyze the effects of e-government reforms that began in mid-90ies by confronting the promises which these reforms made to government performance in the period before and after the reforms took place. The authors use fiscal and performance indicators of the Slovenian government and courts to argue that e-government did not yield any notable effects on the state performance. Finally, the authors analyze the reasons why e-government technology cannot be regarded as sustainable and suggest a different approach towards researching how to sustainably improve governance for generations to come.

scholarly journals Microcontroller Based Flexible Modulation Scheme of MLI Operation for Selective Lower Levels: A Knowledge Based Approach

2016 ◽  
Vol 2016 ◽  
pp. 1-11
Author(s):  
R. K. Dhatrak ◽  
R. K. Nema ◽  
D. M. Deshpande
Keyword(s):  
Pulse Generation ◽  
Multilevel Inverter ◽  
Experimental Results ◽  
Modulation Scheme ◽  
Inductive Load ◽  
Medium Voltage ◽  
Knowledge Based ◽  
Common Mode Voltage ◽  
Power Modules ◽  
And Performance

In today’s industrial world multilevel inverter (MLI) got a significant importance in medium voltage application and also a very potential topic for researchers. It is experienced that studying and comparing results of multilevel inverter (MLI) at distinct levels are a costlier and time consuming issue for any researcher if he fabricate different inverters for each level, as designing power modules simultaneously for different level is a cumbersome task. In this paper a flexible quotient has been proposed to recognize possible conversion of available MLI to few lower level inverters by appropriately changing microcontroller programming. This is an attempt to obtain such change in levels through simulation using MATLAB Simulink on inductive load which may also be applied to induction motor. Experimental results of pulse generation using dsPIC33EP256MC202 demonstrate the feasibility of proposed scheme. Proposed flexible quotient successfully demonstrates that a five-level inverter may be operated as three and two levels also. The paper focuses on odd levels only as common mode voltage (CMV) can be reduced to zero and performance of drives is better than even level. Simulated and experimental results are given in paper.

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