Detail publikace

Robotic Leg Inverse Dynamic Modelling and Design Optimization in SimMechanics

GREPL, R. KRATOCHVÍL, C.

Anglický název

Robotic Leg Inverse Dynamic Modelling and Design Optimization in SimMechanics

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

en

Originální abstrakt

This paper deals with the design of inverse dynamical model of pantographic robotic leg in Matlab – SimMechanics. It is the class of dynamical inverse modelling task, where the positions of actuators and efector are defined in different coordinate systems. Therefore we have to use also inverse kinematics model. This inverse dynamic model serves as the base of robotic leg design optimization. The definition of value function is based on known properties of drives and variable parameters of the leg design. Optimization maximizes parameters of efector trajectory.

Anglický abstrakt

This paper deals with the design of inverse dynamical model of pantographic robotic leg in Matlab – SimMechanics. It is the class of dynamical inverse modelling task, where the positions of actuators and efector are defined in different coordinate systems. Therefore we have to use also inverse kinematics model. This inverse dynamic model serves as the base of robotic leg design optimization. The definition of value function is based on known properties of drives and variable parameters of the leg design. Optimization maximizes parameters of efector trajectory.

Klíčová slova anglicky

robotic leg modelling, dynamic model, design optimization, SimMechanics

Rok RIV

2003

Vydáno

24.03.2003

Nakladatel

Institute of Mechanics of Solids, FME, BUT

Místo

Brno

ISBN

80-214-2312-9

Kniha

Mechatronics, Robotics and Biomechanics 2003

Číslo edice

1

Počet stran

2

BIBTEX


@inproceedings{BUT7430,
  author="Robert {Grepl} and Ctirad {Kratochvíl},
  title="Robotic Leg Inverse Dynamic Modelling and Design Optimization in SimMechanics",
  booktitle="Mechatronics, Robotics and Biomechanics 2003",
  year="2003",
  month="March",
  publisher="Institute of Mechanics of Solids, FME, BUT",
  address="Brno",
  isbn="80-214-2312-9"
}