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An algorithm for the reduction of the numerical complexity of the analytical expressions participating in the dynamic model of robotic mechanism is a necessary part of the process of mathematical modelling of complex robotic mechanisms in symbolic form. Decomposition of the polynomial expressions into the products is a basic part of the algorithm f...
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... It can effectively decouple the mutual coupling between the joint angle vector elements, simplify the equation coefficient matrix and save the control system's calculate ability. The simplified process of the model will also help to understand the analysis process of the robot control method [15][16]. ...
This paper presents a simplified method of dynamic equations in a generalized coordinate system, which decouples the relative motion of the front and back links of the robot joint, and maps generalized angular variables to the same angular datum. Because of the decoupling between absolute angle variables, the complexity of the coefficient matrix of the dynamic equation of the system is reduced, which facilitates the application of the actual series robot system. The simplified process is derived in detail, and the equivalent relation between the generalized relative coordinates and the generalized absolute coordinate dynamics is demonstrated. The relation can be extended to the dynamic equations of different generalized coordinate variables. Aimed at the problem that the quasi-input moment vectors obtained in generalized absolute coordinates cannot be directly used without considering the dynamic coupling of the whole system, the linear relationship between the input moment vectors in absolute and relative coordinates is found. In the end, a simplified example of the Euler-Lagrange dynamic equation for multi-degree-of-freedom manipulator is given. The relationship between the two input torque vectors is simulated by MATLAB and verifies that the input torque can be indirectly calculated by finding the quasi input torque under the absolute coordinates.
... This monograph is a result of a multi-year research conducted at the University of Novi Sad related to usage of intelligent methods of storing data. The research started with attempts to use databases to store data on models of robotic mechanisms [48,49] and to use XML with databases [68,73]. In continuation, the research group is concentrated around research on possibilities to use fuzzy logic with databases since 2005. ...
In this book, we will compare different planning research fields. To be able to compare and analyze differences and similarities, the introductory chapter describes a common, abstract conceptualization of planning. As a starting point, it is presumed that all intelligent systems use anticipation to plan. Based on this, our definition of planning distinguishes five elements of planning: the entity (human or computer program) that makes the plan, the entity that executes the plan, the planning process, the model of the future, and the plan itself. Based on these five factors, we infer a number of generic characteristics that are used as a common framework throughout the book.
