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Complex Dynamic Modelling of Mobile Robot

[+] Author Affiliations
Robert Grepl, Radek Vlach, Cestmir Ondrusek

Brno University of Technology, Brno, Czech Republic

Paper No. PVP2004-2310, pp. 145-151; 7 pages
doi:10.1115/PVP2004-2310
From:
  • ASME/JSME 2004 Pressure Vessels and Piping Conference
  • Fracture Methodologies and Manufacturing Processes
  • San Diego, California, USA, July 25–29, 2004
  • Conference Sponsors: Pressure Vessels and Piping Division
  • ISBN: 0-7918-4669-5
  • Copyright © 2004 by ASME

abstract

This paper deals with the design of complex dynamic model of quadruped walking mobil robot. There is described the method of building of the numerical computational model and its simulating. Complex model consist of submodels of robotic mechanism, DC motor, gearbox model and thermal model of electrical motor. Control algorithms are also considered in model. In the paper is also discussed application of computational model directly for control of robot and also as a data generator for global and local approximation method, mainly artificial neural networks.

Copyright © 2004 by ASME

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