Course 2 : Construction of robot model overview; Projects specification (application);
description
Transcript of Course 2 : Construction of robot model overview; Projects specification (application);
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Course 2: Construction of robot model overview;
Projects specification (application);
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Modeling
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Modeling
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Modeling
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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).
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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
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Modeling
SOutput
Output
Input
Perturbation
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Modeling: NMCa
uses
Effec
ts
Black Box
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NM: Case study j=0
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NM: Case study
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NM: Case study
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ModelingDesires and results…an all time story
u y
y= effects y= DESIRE
u= cause
)()(
1 yfuufy
What are the causes which can produce my desire?
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Modeling: The feedback
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Controler Plant
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The control system
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Modeling: J. Watt governor
Desire: constant angular speed for the shaft
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Modeling: The robot
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Modeling: the robot
Ac Tr MSt TkV(t) T(t) (t) q(t) x(t)
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Modeling: the robot
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Conclusions