DocumentCode
3102569
Title
Kinematics and dynamics modeling of the non-physical direction robot
Author
Wang, Jia-lian
Author_Institution
Inst. of Inf. & Control, Hangzhou Dianzi Univ., Hangzhou, China
Volume
6
fYear
2009
fDate
12-15 July 2009
Firstpage
3390
Lastpage
3395
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/ICMLC.2009.5212783
Filename
5212783
Link To Document