Robot dynamics

Robot Kinematics and Dynamics

Diagonalized Lagrangian robot dynamics

A diagonal equation _ + C( ; )= for robot dynamics is developed by combining recent mass matrix factorization results [1{7] with classical Lagrangian mechanics. Diagonalization implies that at each xed time instant the equation at each joint is decoupled from all of the other joint equations. The equation involves two important variables: a vector of total joint rotational rates and a correspon...

Dynamics modeling and stable gait planning of a quadruped robot in walking over uneven terrains

Quadruped robots have unique capabilities for motion over uneven natural environments. This article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. First, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-DOF quadruped robot. Thereafter, an inverse-dynamics...

Electronical and Mechanical System Modeling of Robot Dynamics Using a Mass/Pulley Model

The well-known electro-mechanical analogy that equates current, voltage, resistance, inductance and capacitance to force, velocity, damping, spring constant and mass has a shortcoming in that mass can only be used to simulate a capacitor which has one terminal connected to ground. A new model that was previously proposed by the authors that combines a mass with a pulley (MP) is shown to simulat...

Mechanical System Modelling of Robot Dynamics Using a Mass/Pulley Model

The well-known electro-mechanical analogy that equates current, voltage, resistance, inductance and capacitance to force, velocity, damping, spring constant and mass has a shortcoming in that mass can only be used to simulate a capacitor which has one terminal connected to ground. A new model that was previously proposed by the authors that combines a mass with a pulley (MP) is shown to simulat...