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Návrh konstrukce a řízení stability humanoidního robotu
Zezula, P. ; Grepl, Robert
This paper deals with the design of a small experimental bipedal robot and stability control. The construction of two legs (six DOF each) is described. Computational modelling was used in the design, particularly statical model of robot including robot-environment interaction implemented in Matlab-SimMechanics.
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Modelování kinematiky dvounohého robotu
Grepl, Robert ; Zezula, P.
This paper presents the procedure of an analytical forward and inverse kinematic model deriving. Forward model is based on standard homogeneous transformation approach. Inverse model is built using a work in basic plane of leg movement with the help of homogeneous transformations in foot and hip joint points. Model built automatically in Matlab/SimMechanics was used as a reference. All the kinematic modelling is motivated by implementation in robot control unit based on microcontrollers Atmel ATMega.
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Modelování dvounohého robotu: Kinematické numerické modely
Grepl, Robert
Modelling of kinematics is one of the basic task related to walking machines. In this paper, we present the buildingof numerical computational forward and inverse kinematic models of bipedal robotic leg. Models are implementedin Matlab/Simulink/SimMechanics environment. All computations are numerical only, so no analytical model isformed. Advantages and disadvantages of such approach are discussed. The role of this way of modelling in wholedesign and development process is also mentioned.
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Computational modelling of thermal behavior of DC motor
Grepl, Robert ; Wierciak, J. ; Vlach, R.
The paper deals with computational modelling of thermal behavior ofdrive system with DC motor. Motivation to built dynamical thermal model is toincrease utility value performance of electrical motor in particular roboticapplication. There is mathematical model presented in the paper, describedidentification of parameters process and shown results for two kind ofidentification approaches. Usage of neural networks approximators ismentioned.
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Thermal modelling of DC motor for controled torque overloading
Grepl, Robert ; Vlach, R. ; Kratochvíl, Ctirad
The paper deals with the application of the thermal nets theory for thermalmodelling of DC motor. There is considered particular drive system -electromechanical servo for quadruped robot. Mathematical model is described,methodology of experiment came up and results are discussed. Parameters ofmodel are identified and possible applications of resultant model are given.Computer analysis are performed in Matlab.
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Robotic leg inverse dynamic modelling and design optimization in Simmechanics
Grepl, Robert ; Kratochvíl, Ctirad
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.
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