Title :
Kinematics and dynamics modeling of the non-physical direction robot
Author_Institution :
Inst. of Inf. & Control, Hangzhou Dianzi Univ., Hangzhou, China
Abstract :
This paper is concerned with the problem of kinematics and dynamics modeling of the non-physical direction robot. After the analysis of the no physical direction of the robot is finished, the design method of a mechanical architecture of the robot is presented. Through setting up the homogeneous coordinate system and analyzing the mechanism of its exercise, the kinematics and dynamic model of the robot are obtained. A numerical example shows the effectiveness of the proposed modeling method.
Keywords :
robot dynamics; robot kinematics; dynamics modeling; kinematics modeling; mechanical architecture; nonphysical direction robot; Cybernetics; Design methodology; Equations; Machine learning; Mobile robots; Motion analysis; Motion control; Robot control; Robot kinematics; Service robots; Dynamics; Kinematics; Model; Non-physical direction; robot;
Conference_Titel :
Machine Learning and Cybernetics, 2009 International Conference on
Conference_Location :
Baoding
Print_ISBN :
978-1-4244-3702-3
Electronic_ISBN :
978-1-4244-3703-0
DOI :
10.1109/ICMLC.2009.5212783
