dynamics modeling

In this paper, modeling and control of a robotic carrier for the cleaning system of solar farms are presented. Since solar panels are placed in natural environments, there is always a problem of dust accumulation on the panels, which results in absorbed energy reduction. Hence, robotic cleaners can be used for solar panels. For relocation of the cleaning robot between solar panel rows, an automated carrier mechanism is required. Hence, a robotic system for cleaner displacement is introduced, and its dynamics modeling and control are presented. The robot kinetics and kinematics models have been derived and validated by ADAMS software. Hence, kinetics and kinematics model-based controllers are introduced for robot motion control. Using the kinetics model, a computed torque method controller is designed and simulated. For less computational effort, a transposed Jacobian controller is designed, using the kinematics model. Finally, to increase control performance, an modified transposed Jacobian controller is also designed. The desired trajectory is designed for the robot. Finally, for software verification and analysis, the controllers are simulated, using co-simulation of MATLAB Simulink and ADAMS model. The simulation results show the satisfactory performance of the controllers and can be used for further design analysis of the prototype.

Wearable robots are robots which are used for rehabilitation or augmentation by human. Recently, there has been an increasing interest in the development of wearable devices to assist elderly as well as patients, soldiers and many other persons for movement assistance and power augmentation. On the other hand, a realization of wearable robot which has the same degree of freedom of a human is not easy from considerations about a size and weight of device. This study is about a lower limb assist robot that consist of just an actuator on each of legs. In this paper after a brief review on wearable robots and their applications, a suitable design of robot which is named RoboWalk presented with inspiring from Honda weight compensation system. In the following kinematics and dynamics modeling of system presents with using of denavit-hartenberg parameters and validates with ADAMS software results. Results with high accuracy has been achieved. It’s necessary to evaluate main foundation of design of robot which is an assistant force in the direction of foot reaction force that has been achieved with the accuracy of 0.02 radians. finally effect of change in user’s weight, position of center of mass and friction of walking assistant robot component is examined in this study.

Accuracy and numerical calculation time are the two main challenges of continuum robots dynamics modeling. In fact, the numerical calculation times of exact models are so long, that they are not practical in applications such as real-time control. This paper presents a new method for dynamics modeling of continuum robot backbones. In this method, the backbone shape is considered as an arbitrary number of constant-curvature (circular arc) elements, and the dynamics model is derived using Lagrange energy methods. First, kinetics and kinematics of one element are derived. Then, the robot kinematics is derived, as a series of such elements. Finally, the robot dynamics model is derived, using Euler-Lagrange method. This paper is focused on dynamics of the flexible body of continuum robots, and the proposed model is independent of actuation systems. Besides, the numerical singularity of the constant-curvature elements is avoided, which occurs when an element is straight. The model is validated using experimental results. Comparison of simulation and experimental results shows the accuracy of the proposed method on dynamics modeling. Furthermore, the calculation time of the model is short enough to make it practical for applications such as real-time control.