Trajectory Tracking of Omni-Directional Wheeled Opera Robot Based on Wavelet

As the perfect fusion of intelligent robotics and China's classic culture, Opera robots, two omni-directional wheeled robots were made in my research centre. They can smoothly fight with each other just as Opera actors. A novel trajectory tracking method based on robotic dynamics model and wavelet sampling theorem for Opera robot is proposed in this paper. The formula for calculating torque of each driving motor when the robot moves along spline curves is studied in detail. By experiment, the robot can be derived smoothly to track predetermined trajectory.

Numeric-Symbolic Approach for Dynamic Modelling of Robotic Manipulators

A simple numeric-symbolic method for dynamic modelling of robotic manipulators is proposed in this paper. Problem of deriving model matrix elements is transformed into problem of solving for driving force and driving torque under specified condition by recursive dynamic equations. Expressions of reaction force in arbitrary joint in numeric-symbolic form are also derived. Corresponding software which can recognize and manipulate symbols is developed and can be used to generate model and real-time code of robotic dynamics.

Computing a Manipulator Regressor Without Acceleration Feedback

SUMMARYA manipulator regressor is an n x l matrix function in the dynamic expression τ = Y r or τ = Wr, which linearizes the robotic dynamics with respect to a properly defined inertia parameter vector ζr є R1. Many modern adaptive controllers require on-line computation of a regressor to estimate the unknown inertia parameters and ensure robustness of the closed-loop system.While the computation of Y is studied by Atkeson, An and Hollerbach1 and Khosla and Kanade,2 the computation of W for a general n–link robot has not been reported in the literature. This paper presents an algorithm to compute W for a general n–link robotic manipulator. The variables used to construct the regressor matrix are directly available from the outward iteration of a Newton-Euler algorithm; some additional arithmetic operations and first-order, low-pass filtering are needed. The identification of unknown inertia parameters is also discussed.