Document Details

Document Type : Article In Journal 
Document Title :
Selection of a Trajectory Function for Minimum Energy Requirements of a Spherical Robot
اختيار معادلة المسار للحصول على اقل طاقة مطلوبة لروبوت كروي
 
Subject : Mechanical Engineering 
Document Language : English 
Abstract : In this study dynamic equations of a Stanford type spherical robot is developed. In the work space of the robot, straight line trajectory is chosen for the end effector. On this trajectory, robot travels with different time functions. These functions are cubic segment, bang-bang parabolic blend, simple harmonic, cycloid, and 3-4-5 polynomial. Total consumed energy curves are obtained with respect to travel times for each trajectory. Results show that cubic segment trajectory function spends minimum energy. 
ISSN : 1319-1047 
Journal Name : Engineering Sciences Journal 
Volume : 15 
Issue Number : 2 
Publishing Year : 1425 AH
2004 AD 
Article Type : Article 
Added Date : Monday, February 22, 2010 

Researchers

Researcher Name (Arabic)Researcher Name (English)Researcher TypeDr GradeEmail
عبدالغفار أزهري الجاويALJAWI, ABDULGHAFAR AZHARYInvestigatorDoctorate 

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 25645.pdf pdfSelection of a Trajectory Function for Minimum Energy Requirements of a Spherical Robot

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