DIFFERENTIAL-DYNAMIC LOGIC FOR COOPERATIVE ROBOTIC SYSTEMS
Journal Title: ROMANIAN JOURNAL OF TECHNICAL SCIENCES - APPLIED MECHANICS - Year 2017, Vol 62, Issue 2
Abstract
Hybrid systems are dynamical systems with interacting discrete transitions and continuous evolutions described by differential equations. They combine the digital and continuous physical effects resulting from the cooperation between the man and the robot. The man and the robot handle the same tool, and the control algorithm has the role to prevent the man to cross the critical borders of a 2D safety workplace and to move into undesirable locations. The man manipulates the tool during his activity without interacting with the robot, but near the boundaries of the working area, the robot intervenes to guide the man towards safe trajectories. The scope of the paper is to provide a coherent logical analysis for such hybrid systems defined on 2D safe domains with critical straight lines or curved borders. The differential-dynamic logic (dL) is used to capture the logical content of the dynamics of such systems.
Authors and Affiliations
SIMONA IOANA DUMITRU, VETURIA CHIROIU
Keywords
Related Articles
- EP ID EP304043
- DOI -
- Views 95
- Downloads 0
SYNTHESIS, STABILITY, AND BANDGAP CONTROL FOR TWO-DIMENSIONAL SUPERLATTICES
This article constitutes a brief review of recent results related to the experimental realization of one-dimensional interfaces between two-dimensional (2D) materials, along with their mechanical and electronic propertie...
VIBRATIONS OF A MICROPADDLE WITH PERIODIC AUXETIC CORE
This paper discusses the vibrations of a micropaddle made from a foil with periodic auxetic core. Two major levels of complexity are discussed in order to understand the structure of this composite, and the auxetic role...
COUPLED TRANSVERSAL AND LONGITUDINAL VIBRATIONS OF A PLANE MECHANICAL SYSTEM WITH TWO IDENTICAL BEAMS
The paper aims to highlight some vibrations properties for a plane beams structure, where transverse vibrations are coupled with the longitudinal vibrations. In engineering practice it often happens that identical parts...
DYNAMICS OF THE HEXAPOD PARALLEL ROBOT
Recursive matrix relations in kinematics and dynamics of the Hexapod parallel robot are established in this paper. Controlled by six forces, the parallel manipulator prototype is a space six-degrees-of-freedom mechanical...
GIMBALS FOR VECTOR CONTROL OF NERVA LIQUID MOTOR TRANSPORTERS
The team for space technology of UPB presents the project for achieving a proprietary orbital access launching system under the NERVA readiness opportunity. The NERVA vehicle is a readily available and low cost means to...