Modeling of multi-dimensional system and its application for robot development

Abstract

In this presentation, our achievement on multi-dimensional system modeling and its application for robot development are discussed. The model considers multi-dimensional aspect of robot-system simulation, characterized by the nature of both Cartesian and polar systems kinematics. Thus model includes electro-mechanical coupling behavior sensor (e.g., pressures sensor) and actuator (e.g., servo motor) in addition to the electrical coupling for the robot control. The electro-mechanical coupling of a sensor is confined to two-dimensional spaces which are structural and electric fields that handle its kinematic behaviour in Cartesian coordinate system. The actuator electro-mechanical coupling combines the electrical and rotational kinematic by preserving energy conservation relation between electrical and mechanical domains. The rotational kinematic quantities of servo-motor such as shaft angle, velocity, acceleration and torque are implemented in polar coordinate system. We demonstrate a robot-system simulation with the developed model to improve the motion of a walking robot.