کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
1706484 1012462 2008 18 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Mathematical simulation of combined trajectory paths of a seven link biped robot
کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مکانیک محاسباتی
پیش نمایش صفحه اول مقاله
Mathematical simulation of combined trajectory paths of a seven link biped robot
چکیده انگلیسی

The following article focuses on biped robot simulation and control over combined trajectory paths with the aid of mathematical modeling methods focusing on the effects of hip height over torso’s modified motion. The mathematical simulation has been exploited to interpolate the combined trajectory of the robot path with the given breakpoints using inverse kinematic and dynamic methods to determine ZMP and stability treatments. After the robot’s combined path determination, a third-order spline is utilized because of its high precision and ability to calculate the kinematic, dynamic and control parameters. With the aid of this software, common parameters such as joint angles and inertial forces for the given specifications and nominal conditions are calculated and simulated.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Applied Mathematical Modelling - Volume 32, Issue 7, July 2008, Pages 1445–1462
نویسندگان
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