Skip to main content Accessibility help
×
Home

Article contents

Learning control of robot manipulators by interactive simulation

Published online by Cambridge University Press:  14 June 2005


Rafael Kelly
Affiliation:
División de Física Aplicada, CICESE, Apdo. Postal 2615, Adm. 1, Ensenada, B.C., 22800 (MEXICO).
Sebastian Dormido
Affiliation:
Dept.de Informática y Automática, E. T. S. Ing. Informática, U.N.E.D Juan del Rosal 16, 28040 Madrid (SPAIN).
Carmen Monroy
Affiliation:
División de Física Aplicada, CICESE, Apdo. Postal 2615, Adm. 1, Ensenada, B.C., 22800 (MEXICO).
Elizabeth Díaz
Affiliation:
División de Física Aplicada, CICESE, Apdo. Postal 2615, Adm. 1, Ensenada, B.C., 22800 (MEXICO).

Abstract

Control systems of robot manipulators offer many challenges in education where the students must learn robot dynamics and control structures, and understand relations between the control parameters and the systems performance. Interactive simulation is aimed at improving the understanding of and intuition for the abstract parts of the control of robot courses. This paper presents an application of interactive simulation to teach control systems of robots. The application considers a nonlinear robot arm and two control modules: position control and motion control. Students can directly manipulate graphical representation of the systems such as a choice among seven control structures, controller gains, and desired trajectories, and obtain instant feedback on the effects. These features make the interactive learning tool stimulating and of high pedagogical value.


Type
Research Article
Copyright
© 2005 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below.

Full text views

Full text views reflects PDF downloads, PDFs sent to Google Drive, Dropbox and Kindle and HTML full text views.

Total number of HTML views: 0
Total number of PDF views: 34 *
View data table for this chart

* Views captured on Cambridge Core between September 2016 - 24th November 2020. This data will be updated every 24 hours.

Hostname: page-component-57c975d4c7-j64h9 Total loading time: 0.633 Render date: 2020-11-24T20:36:45.564Z Query parameters: { "hasAccess": "0", "openAccess": "0", "isLogged": "0", "lang": "en" } Feature Flags last update: Tue Nov 24 2020 20:28:38 GMT+0000 (Coordinated Universal Time) Feature Flags: { "metrics": true, "metricsAbstractViews": false, "peerReview": true, "crossMark": true, "comments": false, "relatedCommentaries": false, "subject": true, "clr": false, "languageSwitch": false }

Send article to Kindle

To send this article to your Kindle, first ensure no-reply@cambridge.org is added to your Approved Personal Document E-mail List under your Personal Document Settings on the Manage Your Content and Devices page of your Amazon account. Then enter the ‘name’ part of your Kindle email address below. Find out more about sending to your Kindle. Find out more about sending to your Kindle.

Note you can select to send to either the @free.kindle.com or @kindle.com variations. ‘@free.kindle.com’ emails are free but can only be sent to your device when it is connected to wi-fi. ‘@kindle.com’ emails can be delivered even when you are not connected to wi-fi, but note that service fees apply.

Find out more about the Kindle Personal Document Service.

Learning control of robot manipulators by interactive simulation
Available formats
×

Send article to Dropbox

To send this article to your Dropbox account, please select one or more formats and confirm that you agree to abide by our usage policies. If this is the first time you use this feature, you will be asked to authorise Cambridge Core to connect with your <service> account. Find out more about sending content to Dropbox.

Learning control of robot manipulators by interactive simulation
Available formats
×

Send article to Google Drive

To send this article to your Google Drive account, please select one or more formats and confirm that you agree to abide by our usage policies. If this is the first time you use this feature, you will be asked to authorise Cambridge Core to connect with your <service> account. Find out more about sending content to Google Drive.

Learning control of robot manipulators by interactive simulation
Available formats
×
×

Reply to: Submit a response


Your details


Conflicting interests

Do you have any conflicting interests? *