File:PFM MFierro.pdf
Revision as of 16:04, 26 May 2010 by Jgvictores (talk | contribs) (Dynamics is a fundamental part for a humanoid robot, not only for locomo tion, but also for any kind of movement. It relates the forces and accelerations that appear in the system. It is used in trajectory generation, stability control, mechanical design )
PFM_MFierro.pdf (file size: 4.7 MB, MIME type: application/pdf)
Dynamics is a fundamental part for a humanoid robot, not only for locomo tion, but also for any kind of movement. It relates the forces and accelerations that appear in the system. It is used in trajectory generation, stability control, mechanical design and simulation.
Due to the high computational cost of obtaining the dynamics of a system with many degrees of freedom, several simplified models have been developed. These models allow to solve the dynamical problem in real time in despite of losing accuracy in calculations.
A complete dynamic model of the robot involves an exact knowledge of all the forces and torques that appear in every link and joint of the robot. Therefore, new simplified models of real time locomotion and other kinds of movements, like dancing, can be studied and developed.
In this work, a complete dynamic model of the robot has been obtained, and different proofs have been achieved by testing movement trajectories. Finally, results have been validated and discussed.
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| current | 16:04, 26 May 2010 | (4.7 MB) | Jgvictores (talk | contribs) | Dynamics is a fundamental part for a humanoid robot, not only for locomo tion, but also for any kind of movement. It relates the forces and accelerations that appear in the system. It is used in trajectory generation, stability control, mechanical des |
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