Publication detail
Complex Dynamic Modelling of Mobile Robot
GREPL, R. VLACH, R. ONDRŮŠEK, Č.
English title
Complex Dynamic Modelling of Mobile Robot
Type
Paper in proceedings (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.
Released
2004-07-26
Publisher
ASME
Location
San Diego, USA
ISBN
0-7918-4669-5
Book
Fracture Methodologies and Manufacturing Processes
Pages from–to
145–
Pages count
7
BIBTEX
@inproceedings{BUT11286,
author="Robert {Grepl} and Radek {Vlach} and Čestmír {Ondrůšek}",
title="Complex Dynamic Modelling of Mobile Robot",
booktitle="Fracture Methodologies and Manufacturing Processes",
year="2004",
series="ASME/JSME Pressure Vessels and Piping Conference",
number="1",
pages="7",
publisher="ASME",
address="San Diego, USA",
isbn="0-7918-4669-5"
}