Teaching robot modelling and control with RobLib

The paper presents a program for robotics education that runs on standard PC's under the Microsoft Windows environment. The RobLib package is designed for undergraduate students and emphasis the fundamental aspects of robot modelling and control. The software is self-explanatory and uses menus, dialog boxes with figures and context-dependent on-line help. In this perpective, students are motivated to investigate on the workspace, kinematics, dynamics, trajectory planning, position and force control of manipulators. Based on this first experience, further studies on robotics, using more sophisticated packages and concepts, are, then, more attractive from the students point of view.N/

Fractional-order position/force control of two cooperating manipulators

In this paper it is studied the implementation of fractional-order algorithms in the position/force control of two cooperating robotic manipulators. The system performance is analyzed in terms of time and frequency response for different operating condicitons.N/

Fractional-order hybrid control of robots manipulators

This paper presents the implementation of fractional-order algorithms in the position/force hybrid control of robotic manipulators. the system performance and robustness is analyzed in the time and frequency domains. The effect of dynamic backlash and flexibility is also investigated.N/

Lagrangian formulation of classical fields within Riemann-Liouville fractional derivatives

The classical fields with fractional derivatives are investigated by using the fractional Lagrangian formulation.The fractional Euler-Lagrange equations were obtained and two examples were studied.Comment: 9 page

Fractional-order position and force robot control

This paper presents the implementation of fractional-order algorithms both for hybrid and cascade position/force control of robotic manipulators. The systems performance and robustness is analyzed in the time domain. The impact effects of the robot gripper with the environment are also investigated.N/

Two Cooperating Manipulators with Fractional Controllers

This paper analyzes the dynamic performance of two cooperative robot manipulators. It is studied the implementation of fractional-order algorithms in the position/force control of two cooperating robotic manipulators holding an object. The simulations reveal that fractional algorithms lead to performances superior to classical integer-order controllers

Statistical modelling of dual-arm robotic systems

The article presents a new approach to the analysis and design of two-arm robotic systems. Usually, system descriptions are based on a set of differential equations which require laborious computations. This motivates the need of alternative models based on other mathematical concepts. The proposed statistical method gives clear guidelines towards the robotic systems analysis and development.N/

Fractional-order position/force robot control

In this paper it is studied the implementation of fractional-order algorithms in position/force control of two cooperating robotic manipulaotrs. The performance and system robustness are analyzed in the time and frequency domains. The effect of backlash and flexibility at the robot joints is also investigated.N/

Fractional control of two arms working in cooperation

This paper analyzes the performance of two cooperative robot manipulators. It is studied the implementation of fractional-order algorithms in the position/force control of two robots holding an object. The experiments reveal that fractional algorithms lead to performances superior to classical integer-order controllers.N/

Simulation of a robotic bird

In this paper it is studied the dynamics of the robotic bird. The system performances are analyzed in terms of time response and robustness. It is study the relation between the angle of attack and the velocity of the bird, the tail influence, the gliding flight and the flapping flight. In this model, a bird flies by the wind beat motion or using its tail down. The results are positive for the construction of flying robots. The development of computational simulation based on the dynamic of the robotic bird that should allow testing strategies and algorithms of control.N/