Detail publikačního výsledku

Robotic Leg Inverse Dynamic Modelling and Design Optimization in SimMechanics

GREPL, R., KRATOCHVÍL, C.

Originální název

Robotic Leg Inverse Dynamic Modelling and Design Optimization in SimMechanics

Anglický název

Robotic Leg Inverse Dynamic Modelling and Design Optimization in SimMechanics

Druh

Stať ve sborníku v databázi WoS či Scopus

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.

Anglický 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

Klíčová slova v angličtině

robotic leg modelling, dynamic model, design optimization, SimMechanics

Autoři

GREPL, R., KRATOCHVÍL, C.

Vydáno

24.03.2003

Nakladatel

Institute of Mechanics of Solids, FME, BUT

Místo

Brno

ISBN

80-214-2312-9

Kniha

Mechatronics, Robotics and Biomechanics 2003

Strany od

107

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"
}