Original title: Robotic leg inverse dynamic modelling and design optimization in Simmechanics
Authors: Grepl, Robert ; Kratochvíl, Ctirad
Document type: Papers
Conference/Event: Mechatronics, robotics and biomechanics 2003, Hrotovice (CZ), 2003-03-24
Year: 2003
Language: eng
Abstract: This paper deals with the design of inverse dynamical model of pantographic robotic leg in Matlab - SimMechanics. This problem belongs to the class of dynamical inverse modelling, where the positions ofactuators and efector are defined in different coordinate systems. Therefore we also have to use inverse kinematicsmodel. This inverse dynamic model serves as the base of robotic leg design optimization. The definition of valuefunction is based on known properties of drives and variable parameters of the leg design. Optimization maximizesparameters of efector trajectory.
Keywords: robotics; simulation
Project no.: CEZ:AV0Z2076919 (CEP)
Host item entry: Mechatronics, robotics and biomechanics 2003, ISBN 80-214-2312-9

Institution: Institute of Thermomechanics AS ČR (web)
Document availability information: Fulltext is available at the institute of the Academy of Sciences.
Original record: http://hdl.handle.net/11104/0107938

Permalink: http://www.nusl.cz/ntk/nusl-31553


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Research > Institutes ASCR > Institute of Thermomechanics
Conference materials > Papers