Publication detail
Complex Dynamic Modelling of Mobile Robot
GREPL, R. VLACH, R. ONDRŮŠEK, Č.
Czech title
Komplexní dynamické modelování mobilního robotu
English title
Complex Dynamic Modelling of Mobile Robot
Type
conference paper
Language
en
Original abstract
Mobile robots acts an important role in the field of service and maintenance in environments dangerous for a human. Typically nuclear power plants. There is necessity to improve and make more effective robot design, in domain of walking robot mainly dynamical behavior. This demand proves dynamic modelling of robots to be an consequential part of its design, in addition to problems of navigation, computer vision etc. This paper deals with the design of complex dynamic model of quadruped walking mobil robot. There is described the method of building and simulating of numerical computational model. Complex model consist of submodels of robotic mechanism, DC motor, gearbox model and thermal model of electrical motor. Control algorithms are also considered in model. In the paper is also discussed application of computational model directly for control of robot and also as a data generator for global and local approximation method, mainly artificial neural networks.
Czech abstract
Mobilní roboty hrají důležitou roli v oblasti servisních činností a údržby zařízení nebezpečných člověku. Dynamické chování hraje důležitou roli u kráčejících robotů. Článek se zabývá návrhem komplexního dynamického modelu čtyřnohého robotu. Model se skládá z submodelů: mechanismu, DC motoru, převodovky a řízení. V článku je diskutováno využití umělých neuronových sítí a lokálních aproximátorů.
English abstract
Mobile robots acts an important role in the field of service and maintenance in environments dangerous for a human. Typically nuclear power plants. There is necessity to improve and make more effective robot design, in domain of walking robot mainly dynamical behavior. This demand proves dynamic modelling of robots to be an consequential part of its design, in addition to problems of navigation, computer vision etc. This paper deals with the design of complex dynamic model of quadruped walking mobil robot. There is described the method of building and simulating of numerical computational model. Complex model consist of submodels of robotic mechanism, DC motor, gearbox model and thermal model of electrical motor. Control algorithms are also considered in model. In the paper is also discussed application of computational model directly for control of robot and also as a data generator for global and local approximation method, mainly artificial neural networks.
Keywords in English
mobile robot, walking robot, modelling, simulation, SimMechanics, Matlab
RIV year
2004
Released
26.07.2004
Publisher
ASME
Location
San Diego, USA
ISBN
0-7918-4669-5
Book
Fracture Methodologies and Manufacturing Processes
Edition number
1
Pages count
7
BIBTEX
@inproceedings{BUT11286,
author="Robert {Grepl} and Radek {Vlach} and Čestmír {Ondrůšek},
title="Complex Dynamic Modelling of Mobile Robot",
booktitle="Fracture Methodologies and Manufacturing Processes",
year="2004",
month="July",
publisher="ASME",
address="San Diego, USA",
isbn="0-7918-4669-5"
}