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Robot Modeling Construction Projects Overview

Explore the art of modeling in constructing a robot using scientific knowledge and experimental validation. Learn about Oaccam's razor, KISS principle, and perturbation modeling techniques for desired outcomes. Dive into case studies and control system modeling for robot design.

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Robot Modeling Construction Projects Overview

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  1. Course 2: Construction of robot model overview; Projects specification (application);

  2. Modeling

  3. Modeling

  4. Modeling

  5. Modeling • A particular phenomenon is represented through the model. The model is a particular knowledge assembly, obtained by approximation process, that aspire to become operational; • Scientific knowledge must be validated continuously by the experiment; • It has as aim the a priori knowledge, more precisely we wish to know how will ensuing the phenomenon before the experimentation (voire pour prevoire).

  6. Modeling • The art of modeling: • Oaccam (1285–1349) razor: “Entities should not be multiplied unnecessarily.” “When you have two competing theories which make exactly the same predictions, the one that is simpler is the better” • KISS: kipped smart and simple

  7. Modeling Output Input S Output Perturbation

  8. Modeling: NM Effects Causes Black Box

  9. (x,y,z)i1…im qm-1 (x,y,z)D j=m-1 q2 q1 j=2 j=1 q0 j=0 (x,y,z)i1…im  (x,y,z)D NM: Case study

  10. NM: Case study

  11. NM: Case study

  12. u Modeling Desires and results…an all time story y y= effects y= DESIRE u= cause What are the causes which can produce my desire?

  13. Modeling: The feedback r  y Perturb y e  0 e + r Plant Controler + + - Feedback Senzor The control system

  14. Modeling:J. Watt governor Desire: constant angular speed for the shaft

  15. link i y y u - C r + link i-1 link i-1 Modeling: The robot

  16. Ac Tk Tr MSt Modeling: the robot q(t) T(t) (t) x(t) V(t)

  17. 1 2 q1 3 q2 Modeling: the robot Pr qp qd qo v q  e q + + E P C S MR + - q

  18. Conclusions

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