Rozšířený model kinematiky čtyřnohého robotu

Extended kinematics for control of quadruped robot

conference paper

en

This paper deals with the extended kinematical model for quadruped mo-bile walking robot. The model has been built based on homogenous coor-dinates approach. The robot is comprehended as an open tree manipulator and therefore standard algorithms for forward and inverse kinematics can be employed. However, the inverse model named 12-18 works with the redundant manipulator structure and pseudoiverse of Jacobian matrix should be used. The inverse model 3-3 uses regular manipulator and al-lows separate positioning of each leg. After processing and simplification of the equations in Maple, the algorithms have been implemented in Mat-lab environment. The model automatically built in SimMechanics has been used for verification. Finally, the results have been tested using VRML visualization.

This paper deals with the extended kinematical model for quadruped mo-bile walking robot. The model has been built based on homogenous coor-dinates approach. The robot is comprehended as an open tree manipulator and therefore standard algorithms for forward and inverse kinematics can be employed. However, the inverse model named 12-18 works with the redundant manipulator structure and pseudoiverse of Jacobian matrix should be used. The inverse model 3-3 uses regular manipulator and al-lows separate positioning of each leg. After processing and simplification of the equations in Maple, the algorithms have been implemented in Mat-lab environment. The model automatically built in SimMechanics has been used for verification. Finally, the results have been tested using VRML visualization.

This paper deals with the extended kinematical model for quadruped mo-bile walking robot. The model has been built based on homogenous coor-dinates approach. The robot is comprehended as an open tree manipulator and therefore standard algorithms for forward and inverse kinematics can be employed. However, the inverse model named 12-18 works with the redundant manipulator structure and pseudoiverse of Jacobian matrix should be used. The inverse model 3-3 uses regular manipulator and al-lows separate positioning of each leg. After processing and simplification of the equations in Maple, the algorithms have been implemented in Mat-lab environment. The model automatically built in SimMechanics has been used for verification. Finally, the results have been tested using VRML visualization.

chodící robot, homogenní souřadnice, kinematika

walking mobile robot, kinematics, homogenous coordinates

2007

01.09.2007

Springer

Berlin

978-3-540-73955-5

Recent Advances in Mechatronics

1

126–130

5