Ahmad Albalasie

15 Questions 18 Answers 0 Followers

Questions related from Ahmad Albalasie

How can I solve the problem of small discontinuity in trajectory for the robot?

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 4,002 8 View

Is the mapping for a continuous trajectory in task space for a robot must be a continuous trajectory in the joint space?

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 754 4 View

What are the sufficient conditions for an optimal control?

what are the sufficient conditions for an optimal controller if the mechanical system is nonlinear?

14 August 2015 9,549 4 View

Can someone provide me the parameters for dynamic robot for Scara robot?

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 387 3 View

How I can minimize the cycle time for an industrial robot?

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 9,541 6 View

What is Simpson's rule to compute the integral from (0,Ts)?

what is Simpson's rule to compute the integral from (0,Ts)?

05 December 2014 9,034 1 View

In tracking control must I linearize the non-linear model at each sample or only in the target point?

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 4,786 5 View

Does anyone has references about successive linearization in path planning?

does anyone has reference about successive linearization in path planning for a robot?

04 December 2014 6,489 3 View

What are the value of costate in (tf) when the the problem is Lagrange problem?

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 1,592 3 View

Do I need to discretize the state space model if I want execute a shooting search policy?

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 3,186 5 View

How can I calculate the inertia for a coupling parts in a robot, and when I compute them must I then add them to the previous link or the next link?

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 9,583 3 View

Are the elements inside the mass matrix always a positive values or not?

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 8,736 5 View

What is the relationship between minimizing the acceleration in the robot and minimizing the energy consumption?

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 1,182 4 View

Does someone have or know a direct method to find the optimal values for minimizing energy consumption?

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 9,871 5 View

Can the steepest descent method be success if the initial assumption for the solution is poor?

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 1,051 8 View