simulator UGR with input from other partners Motivation Connect EDLUT using TCPIP socket with DLR Robot model Built up the interface between analog signal and needed spiking signals ID: 1042544
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1. CEREBELLUM INTERFACE (EDLUT-Robot simulator)UGR with input from other partnersMotivationConnect EDLUT using TCP/IP socket with DLR Robot model.Built up the interface between analog signal and needed spiking signals.Configure control loop, cerebellum, robot control parameters. ConclusionsDifferent point masses are added to the end of the DLR robot effector. So, our ideal dynamic model (without ending point mass) and our real dynamic model are not equal, the cerebellum acts as a predictive corrective module in the control loop. An eight-like trajectory is computed in Cartesian coordinates and it is transformed into joint coordinates using and inverse Kinematics model. These desired arm states are used at each time step to compute a crude torque command (using the ideal dynamic model) and also to update the predictive corrective command of cerebellumTrajectory generatorInverse DynamicsDirect DynamicsConverter (Analog signals into spikes)TCP /IP Comunication, Entries adjustment to cerebellum needsCorrective torquesCerebellum delayTCP /IP Comunication Cerebellar output adjustment to simulation environment00.20.40.60.81-0.1-0.0500.050.10.150.20.250.3Time(s)Joint positions (rad) Single Joints Angles -0.100.100.510.5380.5390.540.5410.5420.5430.5440.545Y (m)Cartesian positionsX (m)Z (m)q1q2q312 blocks of 20MF: 1-q1 desired position 2-q1 desired velocity3-q2 desired position 4-q2 desired velocity5-q3 desired position 6-q3 desired velocity7-q1 actual position 8-q1 actual velocity9-q2 actual position 10-q2 actual velocity11-q3 actual position 12-q3 actual velocity8X6 inferior olive block