Title :
FED-the free body diagram method. Kinematic and dynamic modeling of a six leg robot
Author :
Barreto, João Pedro ; Trigo, A. ; Menezes, P. ; Dias, J. ; de Almeida, A.T.
Author_Institution :
Inst. of Syst. & Robotics, Inst. Politecnico de Leiria, Leiria, Portugal
fDate :
29 Jun-1 Jul 1998
Abstract :
The free body diagram method, based on the dynamic equations of isolated rigid bodies, is used to overcome the difficulties in dynamic modeling of legged robots. The article presents a simulator for a six leg machine. Both kinematic and dynamic models are developed. Kinematic equations are derived with the Denavit-Hartenberg method. The free body diagram method is used to obtain the dynamic model. Some results of simulation are presented
Keywords :
legged locomotion; robot dynamics; robot kinematics; Denavit-Hartenberg method; dynamic equations; dynamic modeling; free body diagram method; isolated rigid bodies; kinematic modeling; six leg robot; Equations; Kinematics; Leg; Legged locomotion; Mobile robots; Rough surfaces; Surface roughness; Vehicle dynamics; Vehicles; Wheels;
Conference_Titel :
Advanced Motion Control, 1998. AMC '98-Coimbra., 1998 5th International Workshop on
Conference_Location :
Coimbra
Print_ISBN :
0-7803-4484-7
DOI :
10.1109/AMC.1998.743574
