Detail publikace

Complex Dynamic Modelling of Mobile Robot

GREPL, R., VLACH, R., ONDRŮŠEK, Č.

Originální název

Complex Dynamic Modelling of Mobile Robot

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

angličtina

Originální abstrakt

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.

Klíčová slova v angličtině

mobile robot, walking robot, modelling, simulation, SimMechanics, Matlab

Autoři

GREPL, R., VLACH, R., ONDRŮŠEK, Č.

Rok RIV

2004

Vydáno

26. 7. 2004

Nakladatel

ASME

Místo

San Diego, USA

ISBN

0-7918-4669-5

Kniha

Fracture Methodologies and Manufacturing Processes

Edice

ASME/JSME Pressure Vessels and Piping Conference

Číslo edice

1

Strany od

145

Strany do

151

Strany počet

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"
}