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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 : Short Note
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
Number Of Pages
:
11
Article Type
:
Article
Added Date
:
Sunday, October 11, 2009
Researchers
Researcher Name (Arabic)
Researcher Name (English)
Researcher Type
Dr Grade
Email
أ. أ. ن. الجاوي
A. A. N. ALJAWI
Researcher
ح. دايكن
H. DIKEN
Researcher
ش. الشهراني
S. A. ALSHAHRANI
Researcher
Files
File Name
Type
Description
22845.pdf
pdf
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