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A Mobile Wireless and Web Based Analysis Tool for Robot Design and Dynamic Control Simulation from Task Points Description

Tarek M.Sobh,
Bei Wang,
Sarosh H.Patel,

Abstract


In this work, we propose a mobile wireless-based, as well as a web-based solution for robot design and dynamic control simulation based on given task point descriptions. The software combines and utilizes the computational power of both the Mathematica and Matlab packages. Given the location and velocity of each task point, our approach formulates the complete design of a 3 DOF robot model by computing its optimal dynamic parameters such as link length, mass and inertia. Furthermore, our package suggests the optimal control parameters (Kp, Kv) for the dynamic control simulation. Our proposal discusses the implemental possibility of making sophisticated scientific computational service available for wireless devices.

Keywords


Robot design; modeling; manipulability; web-based; WAP; wireless computational service; trajectory generation; optimization; control loop simulation; robot control; dynamic control simulation

Citation Format:
Tarek M.Sobh, Bei Wang, Sarosh H.Patel, "A Mobile Wireless and Web Based Analysis Tool for Robot Design and Dynamic Control Simulation from Task Points Description," Journal of Internet Technology, vol. 4, no. 3 , pp. 153-162, Jul. 2003.

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