FBD - The Free Body Diagram Method . Kinematic and Dynamic Modeling of a Six Leg Robot
نویسنده
چکیده
The Free Body Diagram method, based on the dynamic equations of isolated rigid bodies, is used to overcome the di culties in dynamic modeling of legged robots. This article presents a simulator for a six leg machine. Both kinematic and dynamic models are developed. Kinematic equations are derived with Denavit-Hartenberg method. The Free Body Diagram method is used to obtain the dynamic model. Some results of simulation are presented.
منابع مشابه
FBD - The Free Body Diagram Method
The Free Body Diagram method, based on the dynamic equations of isolated rigid bodies, is used to overcome the diiculties in dynamic modeling of legged robots. This article presents a simulator for a six leg machine. Both kinematic and dynamic models are developed. Kinematic equations are derived with Denavit-Hartenberg method. The Free Body Diagram method is used to obtain the dynamic model. S...
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