Publication detail

Complex Dynamic Modelling of Mobile Robot

GREPL, R., VLACH, R., ONDRŮŠEK, Č.

Original Title

Complex Dynamic Modelling of Mobile Robot

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.

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.

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

ASME/JSME Pressure Vessels and Piping Conference

Edition number

1

Pages from

145

Pages to

151

Pages count

7

Documents

BibTex


@inproceedings{BUT11286,
  author="Robert {Grepl} and Radek {Vlach} and Čestmír {Ondrůšek}",
  title="Complex Dynamic Modelling of Mobile Robot",
  annote="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.",
  address="ASME",
  booktitle="Fracture Methodologies and Manufacturing Processes",
  chapter="11286",
  edition="ASME/JSME Pressure Vessels and Piping Conference",
  institution="ASME",
  year="2004",
  month="july",
  pages="145",
  publisher="ASME",
  type="conference paper"
}