Detail publikace
Simulation and control of mobile walking robot using complex dynamic model
GREPL, R.
Anglický název
Simulation and control of mobile walking robot using complex dynamic model
Typ
Článek recenzovaný mimo WoS a Scopus
Jazyk
en
Originální abstrakt
Mobile robots act an important role in the field of service and maintenance in environments dangerous for a human. Walking robots represent separate part of mobile robots with specific problems: gait, stability, design of pedal mechanisms etc. One of the biggest challenge in area of robots design is their dynamic modelling. An advanced control algorithms are supposed to take into account the strong dynamic behaviour of the robot mechanism. 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 the submodel of the robotic mechanism, the DC motor, the gearbox model and the thermal model of the 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.
Klíčová slova anglicky
mobile walking robot, dynamic modeling of MBS, SimMechanics
Vydáno
2004-09-23
ISSN
0033-2089
Ročník
2004
Číslo
8-9
Strany od–do
65–
Počet stran
2
BIBTEX
@article{BUT42147,
author="Robert {Grepl}",
title="Simulation and control of mobile walking robot using complex dynamic model",
journal="Elektronika",
year="2004",
volume="2004",
number="8-9",
pages="2",
issn="0033-2089"
}