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- Article name
- MATHEMATICAL MODEL FOR FINDING SOFTWARE MOTION OF ROBOT ANDROID BY REVERSE TASK METHOD
- Authors
- Gorobtsov A. S., , vmp@vstu.ru, Volgograd State Technical University, Volgograd, Russia
Chigirinskaya N. V., , vmp@vstu.ru, Volgograd State Technical University, Volgograd, Russia
Smirnov E. A., , vmp@vstu.ru, Volgograd State Technical University, Volgograd, Russia
Bochkin A. M., , vmp@vstu.ru, Volgograd State Technical University, Volgograd, Russia
Andreeva M. I., , vmp@vstu.ru, Volgograd State Technical University, Volgograd, Russia
Polyakov V. N., , vmp@vstu.ru, Volgograd State Technical University, Volgograd, Russia
- Keywords
- robotics / walking robots / control / computer simulation
- Year
- 2020 Issue 2 Pages 3 - 6
- Code EDN
- Code DOI
- Abstract
- A mathematical model is presented for finding the programmed movement of android robot drives by the inverse problem method. The methods of dynamics of coupled systems of bodies, oriented to a numerical solution, are used. The equations of the inverse problem are written in the form of differential-algebraic equations. The paper presents interpolation functions that uniquely specify the trajectory of the robot body and the trajectories of its feet. The spatial movement of the robot is considered, for the description of which a design scheme is selected that includes all the links of the robot and couples kinematically connecting them.
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