Publication detail
Robotic Leg Inverse Dynamic Modelling and Design Optimization in SimMechanics
GREPL, R. KRATOCHVÍL, C.
English title
Robotic Leg Inverse Dynamic Modelling and Design Optimization in SimMechanics
Type
Paper in proceedings (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.
Keywords in English
robotic leg modelling, dynamic model, design optimization, SimMechanics
Released
2003-03-24
Publisher
Institute of Mechanics of Solids, FME, BUT
Location
Brno
ISBN
80-214-2312-9
Book
Mechatronics, Robotics and Biomechanics 2003
Pages from–to
107–
Pages count
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",
number="1",
pages="2",
publisher="Institute of Mechanics of Solids, FME, BUT",
address="Brno",
isbn="80-214-2312-9"
}