Publication detail

Robotic Leg Inverse Dynamic Modelling and Design Optimization in SimMechanics

GREPL, R., KRATOCHVÍL, C.

Original Title

Robotic Leg Inverse Dynamic Modelling and Design Optimization in SimMechanics

English Title

Robotic Leg Inverse Dynamic Modelling and Design Optimization in SimMechanics

Type

conference paper

Language

en

Original Abstract

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.

English abstract

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.

Keywords

robotic leg modelling, dynamic model, design optimization, SimMechanics

RIV year

2003

Released

24.03.2003

Publisher

Institute of Mechanics of Solids, FME, BUT

Location

Brno

ISBN

80-214-2312-9

Book

Mechatronics, Robotics and Biomechanics 2003

Edition number

1

Pages from

107

Pages to

108

Pages count

2

Documents

BibTex


@inproceedings{BUT7430,
  author="Robert {Grepl} and Ctirad {Kratochvíl}",
  title="Robotic Leg Inverse Dynamic Modelling and Design Optimization in SimMechanics",
  annote="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.
",
  address="Institute of Mechanics of Solids, FME, BUT",
  booktitle="Mechatronics, Robotics and Biomechanics 2003",
  chapter="7430",
  institution="Institute of Mechanics of Solids, FME, BUT",
  year="2003",
  month="march",
  pages="107",
  publisher="Institute of Mechanics of Solids, FME, BUT",
  type="conference paper"
}