Robot modeling and low-level programming
Robotic manipulators have become a common manufacturing tool in different industries. In the last decade, researchers have extended the applications of robots to many areas, having as practical result new types of robots. The variety of robotic applications implies a new classification, mainly based on the mechanical structure. Currently, advanced robotic systems include serial manipulators, parallel robots, mobile robots (ground, marine, and aerial), humanoid robots, special application robots.
Independent of the robot category, the most important part in designing/analyzing a robotic structure is the mathematical model. Robot modeling includes primarily the kinematics and dynamics. Strongly connected with the robot model is the simulation and testing of the models.
In this research direction, we focus mainly on determination of robot models and their implementation in real-time embedded systems. In particular, we focus on finding and applying new methods to reduce and optimize the complexity of the models. On the other hand, we are developing and optimizing new embedded systems applications and tools for our robotic platforms. Low-level programming for these systems is either made in ANSI C, or platform-specific programming languages like G-Code or Karel.
Our open and ongoing projects in this area are listed below, together with a selection of completed projects where relevant.