Use of complex dynamic models in design and control of walking robots
Abstract eng: The paper describes the design of complex dynamic model of quadruped walking mobil robot. Method of building of the numerical computational model and its simulating is shown. Complex model consist of submodels of robotic mechanism, DC motor, gearbox model and thermal model of electrical motor. 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. Control algorithm is also considered in model.
Contributors:
Publisher:
Institute of Thermomechanics AS CR, v.v.i., Prague
Conference Title:
Conference Title:
Engineering Mechanics 2004
Conference Venue:
Svratka (CZ)
Conference Dates:
2004-05-10 / 2004-05-13
Rights:
Text je chráněný podle autorského zákona č. 121/2000 Sb.
Record appears in:
Record created 2014-11-14, last modified 2014-11-18
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