Course 2: Construction of robot model overview; Projects specification (application);

Modeling

Modeling

Modeling

Modeling A particular phenomenon is represented through the model. The model is a particular knowledge assembly, obtained by approximation process, that aspire to become operational; Scientific knowledge must be validated continuously by the experiment; It has as aim the a priori knowledge, more precisely we wish to know how will ensuing the phenomenon before the experimentation (voire pour prevoire).

Modeling The art of modeling: Oaccam (1285–1349) razor: “Entities should not be multiplied unnecessarily.” “When you have two competing theories which make exactly the same predictions, the one that is simpler is the better” KISS: kipped smart and simple

Modeling S Output Input Perturbation

Modeling: NM Causes Effects Black Box

NM: Case study qm-1 q2 j=m-1 q1 j=2 j=1 q0 j=0 (x,y,z)i1…im  (x,y,z)D

NM: Case study

NM: Case study

Modeling Desires and results…an all time story u y y= effects y= DESIRE u= cause What are the causes which can produce my desire?

Modeling: The feedback Controler Plant Feedback e Senzor + - r The control system r  y Perturb y e  0

Modeling: J. Watt governor Desire: constant angular speed for the shaft

Modeling: The robot r y link i-1 link i C - + u

Modeling: the robot Ac Tr MSt Tk V(t) T(t) (t) q(t) x(t)

Modeling: the robot C E S MR Pr qd P q e v  qo qp + - q1 q2 1 2 3

Conclusions