A NOVEL APPROACH FOR DESIGN AND SIMULATION OF A DIFFERENTIAL ROBOT KINEMATICS MODEL

 للكاتبين :

Osama Ismail Mohammed, Hossam Fattah, and M.M.A.Zahra

Faculty of Engineering, Al Azhar University

Cairo –Egypt

ABSTRACT

One of the basic tasks for Automatic or Manual , robot’s motion control subsystem is to

accurately follow a given trajectory. The error between the present posture x(t) = [x(t) y(t) '(t)]T

and the reference trajectory is to be minimized , in order to execute accurate paths, the motor

motion trajectories must consider both constraints due to the motor and load dynamics . In

this papers we will Investigate an approach to model the robot Dynamics (Using Euler

Lagrange), superimposing both robot nonharmonic constraints and Kinematics in the Dynamic

Model .

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