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GREPL, R., KRATOCHVÍL, C.
Originální název
Robotic Leg Inverse Dynamic Modelling and Design Optimization in SimMechanics
Typ
článek ve sborníku ve WoS nebo Scopus
Jazyk
angličtina
Originální abstrakt
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.
Klíčová slova
robotic leg modelling, dynamic model, design optimization, SimMechanics
Autoři
Rok RIV
2003
Vydáno
24. 3. 2003
Nakladatel
Institute of Mechanics of Solids, FME, BUT
Místo
Brno
ISBN
80-214-2312-9
Kniha
Mechatronics, Robotics and Biomechanics 2003
Číslo edice
1
Strany od
107
Strany do
108
Strany počet
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" }