Course 2 : Construction of robot model overview; Projects specification (application);
description
Transcript of Course 2 : Construction of robot model overview; Projects specification (application);
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
SOutput
Output
Input
Perturbation
Modeling: NMCa
uses
Effec
ts
Black Box
NM: Case study j=0
j=1 j=2
j=m-1
q0
q1
q2
qm-1
1000
1
1
1000
1
1
,2,1,
,22,21,2
,12,11,1
10210
110
120
21
20
11
20
110
21
10
11
10
),(.),(),(....),(.),(),(),(.),(),(
),(.),(),(....
),(.),(),(),(.),(),(
nnnn
n
n
nnnn
n
n
yxyxyx
yxyxyxyxyxyx
qqqqqq
qqqqqqqqqqqq
Diii zyxzyxd
m),,(,),,(
120 ,...,
(x,y,z)D
(x,y,z)i1…im
(x,y,z)D
(x,y,z)i1…im
NM: Case study
)|()()|()()|(
...1k
nkk
iii hdphp
hdphpdhp
)|()()|( ,,, iii hophpohp
)),,(,),,((1)|(
120 ,...,
,
Diiii zyxzyxd
hopm
NM: Case study
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?
Modeling: The feedback
y
Perturb
Controler Plant
Feedback
e
Senzor
++
+-
r
The control system
r y
e 0
Modeling: J. Watt governor
Desire: constant angular speed for the shaft
Modeling: The robot
r
yy
link i-1
link i
C
link i-1
-+
u
Modeling: the robot
Ac Tr MSt TkV(t) T(t) (t) q(t) x(t)
Modeling: the robot
C E SMR
Pr
qdP
q
e v qo
qpq q+
- ++
q1
q2
1
2
3
Conclusions