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Use of comlex dynamic models in design and control of walking robots
Grepl, Robert ; Ondrůšek, Č. ; Kratochvíl, Ctirad
The paper describes the design of complex dynamic model of quadrupedwalking mobil robot. Method of building of thenumerical computational model and its simulating is shown. Complex model consist ofsubmodels of robotic mechanism, DC motor, gearbox model and thermal model ofelectrical motor. In the paper is also discussed application of computational model directly for control ofrobot and also as a data generator for global and local approximation method,mainly artificial neural networks. Control algorithm is also considered in model.
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