Robotic Leg Inverse Dynamic Modelling and Design Optimization in SimMechanics

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F03%3APU36822" target="_blank" >RIV/00216305:26210/03:PU36822 - isvavai.cz</a>

Alternative codes found

RIV/61388998:_____/03:51030107

Result on the web

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DOI - Digital Object Identifier

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Result language

angličtina

Original language name

Robotic Leg Inverse Dynamic Modelling and Design Optimization in SimMechanics

Original language description

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 dessign. Optimization maximizes parameters of efector trajectory.

Czech name

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Czech description

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Type

D - Article in proceedings

CEP classification

JQ - Machinery and tools

OECD FORD branch

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Project

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Continuities

Z - Vyzkumny zamer (s odkazem do CEZ)

Publication year

2003

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

Mechatronics, Robotics and Biomechanics 2003

ISBN

80-214-2312-9

ISSN

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e-ISSN

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Number of pages

2

Pages from-to

107-108

Publisher name

Institute of Mechanics of Solids, FME, BUT

Place of publication

Brno

Event location

Hrotovice

Event date

Mar 24, 2003

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

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