LOCOMOTION
FED-the free body diagram method. Kinematic and dynamic modeling of a six leg robot
Juan Pablo Barreto, António Trigo, Paulo Menezes, Jorge Dias, Anı́bal T. de Almeida
- Year
- 2002
- Citations
- 22
Abstract
The free body diagram method, based on the dynamic equations of isolated rigid bodies, is used to overcome the difficulties in dynamic modeling of legged robots. The article presents a simulator for a six leg machine. Both kinematic and dynamic models are developed. Kinematic equations are derived with the Denavit-Hartenberg method. The free body diagram method is used to obtain the dynamic model. Some results of simulation are presented.
Keywords
KinematicsDiagramComputer scienceDynamic simulationDynamic equationRobot kinematicsRobotKinematics equationsSimulationControl theory (sociology)
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