Title :
Full kinematic and dynamic modeling of “Szabad(ka)-Duna” hexapod
Author :
Kecskes, Istvan ; Odry, Péter
Author_Institution :
FIM Singidunum, Belgrad, Serbia
Abstract :
This article describes the creation MATLAB model for the six-legged walking robot by the name of new ldquoSzabad(ka)-Dunardquo, starting from the creation of the motor model through the inverse kinematic and inverse dynamic model to the insertion of the control algorithms.
Keywords :
DC motors; fuzzy control; legged locomotion; mathematics computing; robot dynamics; robot kinematics; MATLAB model; Szabad(ka)-Duna; control algorithms; full dynamic modeling; full kinematic modeling; fuzzy control system; hexapod robot; inverse dynamic model; inverse kinematic model; motor model; six-legged walking robot; Control systems; DC motors; Fuzzy control; Fuzzy systems; Gears; Kinematics; Legged locomotion; Mathematical model; Robots; Voltage control;
Conference_Titel :
Intelligent Systems and Informatics, 2009. SISY '09. 7th International Symposium on
Conference_Location :
Subotica
Print_ISBN :
978-1-4244-5348-1
Electronic_ISBN :
978-1-4244-5349-8
DOI :
10.1109/SISY.2009.5291160
