Publication detail

Simulation and control of mobile walking robot using complex dynamic model

GREPL, R.

Original Title

Simulation and control of mobile walking robot using complex dynamic model

English Title

Simulation and control of mobile walking robot using complex dynamic model

Type

journal article - other

Language

en

Original Abstract

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.

English abstract

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.

Keywords

mobile walking robot, dynamic modeling of MBS, SimMechanics

RIV year

2004

Released

23.09.2004

Pages from

65

Pages to

66

Pages count

2

Documents

BibTex


@article{BUT42147,
  author="Robert {Grepl}",
  title="Simulation and control of mobile walking robot using complex dynamic model",
  annote="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.",
  chapter="42147",
  edition="2004/8-9",
  journal="Elektronika",
  number="8-9",
  volume="2004",
  year="2004",
  month="september",
  pages="65",
  type="journal article - other"
}