Komplexní dynamické modelování mobilního robotu

Complex Dynamic Modelling of Mobile Robot

článek ve sborníku ve WoS nebo Scopus

en

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.

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.

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.

mobile robot, walking robot, modelling, simulation, SimMechanics, Matlab

2004

26.07.2004

ASME

San Diego, USA

0-7918-4669-5

Fracture Methodologies and Manufacturing Processes

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