15 Questions 18 Answers 0 Followers
Questions related from Ahmad Albalasie
I have a robot which has two phases of motion. They have null space motion and the underactuated motion. The trajectory planning method for each phase is different. But these motions are...
29 January 2016 3,996 8 View
Hi all, I'd like to ask: if I'm programming a continuous trajectory for a SCARA robot in the task space is it necessary this trajectory be a continuous trajectory also in the joint space? for...
27 November 2015 750 4 View
what are the sufficient conditions for an optimal controller if the mechanical system is nonlinear?
14 August 2015 9,544 4 View
Dear Sir/Madam I'd like to ask if someone has the dynamic parameters for an industrial Scara robot? because I need these parameters as an input for my research. Please: provide me the module of...
13 July 2015 384 3 View
I'm working on path planning for robot. However, I would like to ask how I can minimize the cycle time for the industrial robot, the motion of the robot is between point A and point B (the problem...
25 January 2015 9,533 6 View
what is Simpson's rule to compute the integral from (0,Ts)?
05 December 2014 9,029 1 View
I'd like build tracking system for under-actuated robot. The optimal reference paths has been calculated by an optimization code for path planning. My question is it necessary to linearize the...
04 December 2014 4,782 5 View
does anyone has reference about successive linearization in path planning for a robot?
04 December 2014 6,485 3 View
if I want solve two point boundary problem and if I want minimize the cost function J=Integration(u1^2+u2^2) sub to xdot=f(x,u) where g=(u1^2+u2^2) ; u1, u2 are torques traj x: is the...
03 November 2014 1,588 3 View
1- is it necessary to discretize the state space model which is a non-linear model (robot) if I want execute a direct shooting search policy or direct collection policy? 2- is there is a good...
21 October 2014 3,184 5 View
I working on a horizontal industrial robot with a three links and all joints are rotational Joints. As a result of that there are some coupling parts to connect between the joints. My question...
14 October 2014 9,577 3 View
I'm developing a optimization solution for problem related to robotics motion. My question about the matrix if the values inside the mass the mass matrix are always positive for each...
30 September 2014 8,733 5 View
I mean if I minimize the second norm for the acceleration for each joint that means I'm minimizing the the second norm for the torque ? and if this is true that means I'm minimizing the energy...
17 September 2014 1,180 4 View
I'd like to minimize the energy consumption so I must minimize the Hamiltonian eqution to find the optimal solution, so I need a method which is't sensitive to the initial guess for the states and...
09 September 2014 9,866 5 View
In other words which method is not sensitive method for the initial assumption for the input ? Secondly can I use it to minimize function such as F=(x,p,u1,u2) with two inputs to minimize u1,u2 at...
29 August 2014 1,046 8 View
