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Robot Simulation

## 3D Modeling of Robotic and Mechanical Systems

Easily adding 3D graphics to C/C++/C#, Visual basic, Matlab, Simulink, and LabView etc... without any programming.

## 2D Mobile Robot Simulation

Introduction

The robot that we have here is a wheeled robot. It has two wheels. It navigates with a differentially steered drive system. If one wheel is rotating faster, the robot will make a curved path. If both wheels are on the same speed, it will make a straight path.

## Part V: 6-DOF Manipulator Robust Inverse Dynamic Control

In the real control system, uncertainties are unavoidable. The uncertainty can be classified into two categories: disturbance signals and dynamic perturbations. The former includes input and output disturbance, sensor noise and actuator noise,...The latter represents the discrepancy between the mathematical model and the actual dynamics of the system in operation. A mathematical model of any real system is always just an approximation of the true, physical reality of the system dynamics. Typical sources of the discrepancy include unmodelled (usually high-frequency ) dynamics, neglected nonlinearities in the modelling, effects of deliberate reduced-order models, and sytem-parameter variations due to environmental changes and torn-and-worn factors. These modelling errors may adversely affect the stability and performance of a control system.

## Part IV: 6-DOF Manipulator Control 2

Joint Space Inverse Dynamics Control

## Part III: 6-DOF Manipulator Control 1

Independent Joint Control

## Part II: 6-DOF Manipulator Dynamic

The equation of motion for n-axis manipulator  are given by

## Part I: 6-DOF Manipulator Modeling

6-DOF Manipulator Modeling

## Finite difference simulation of flexible manipulators

Flexible manipulator systems (FMSs) offer several advantages in contrast to the traditrional rigid ones. These include faster system response, lower enery consumption, requiring relatively smaller actuators, reduced non-linearity due to elimination of gearing, less overall mass and, in general, less overall cost. However, owing to the distributed nature of the governing equations describing system dynamics, the control of flexible manipulator has traditionally involved complex processes.

## Robot Simulation in Matlab

This tutorial will discuss some of the basic steps in creating a virtual robot control and simulation environment in Matlab