Title :
Physical and Mathematical Modeling of NUSTBOT-I through Bond-Graph Technique
Author :
Kayani, Saheeb Ahmed
Author_Institution :
Dept. of Mech. Eng., Nat. Univ. of Sci. & Technol.
Abstract :
Physical and mathematical models are developed for kinematic sections of NUSTBOT-I a four degrees of freedom two legged robot. A brief review of robot construction and control is presented first. Detailed word bond-graph model is included to give an idea of the whole robotic structure. Each kinematic section is represented by a simplified schematic diagram and its bond-graph model is generated. These models are used to develop state-space representation for all kinematic sections. Also based on these bond-graph models motion profile simulations are generated using 20-Sim modeling and simulation software.
Keywords :
bond graphs; legged locomotion; robot kinematics; 20-Sim software; NUSTBOT-I; bond-graph technique; motion profile simulations; robot construction; robot control; robot kinematic; state-space representation; two legged robot; Bonding; DC motors; Educational robots; Foot; Gears; Hip; Kinematics; Leg; Legged locomotion; Mathematical model;
Conference_Titel :
Multitopic Conference, 2006. INMIC '06. IEEE
Conference_Location :
Islamabad
Print_ISBN :
1-4244-0795-8
Electronic_ISBN :
1-4244-0795-8
DOI :
10.1109/INMIC.2006.358210
