Dynamics of a 9-DoF Robotic Leg for a Football Simulator

被引：0
|
作者：
Vahidi, Masoud [1 ]
Moosavian, S. Ali A. [1 ]
机构：
[1] KN Toosi Univ Technol, Ctr Excellence Robot & Control, Adv Robot & Automated Syst ARAS Lab, Dept Mech Engn, Tehran, Iran
来源：
2015 3RD RSI INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM) | 2015年
关键词：
robotic leg; simmechanics; verification; kinematics; dynamics;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper focuses on a robotic human-like leg. This robot was designed and modeled for task of kicking soccer ball to desired target. In addition, applications of this robot have been explained and its kinematics and dynamics equations have been developed. Kinematic analysis has been done using Denavit-Hartenberg method and position, velocity and acceleration of center of mass (CoM) of all links can be obtained. Dynamics equations of this robot have been written using recursive Lagrange method and inverse dynamics problem has been solved. Finally, kinematics and dynamics equations of this robot are verified using a numerical simulation in MATLAB simmechanics.
引用
收藏
页码：314 / 319
页数：6
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