Simulation of a robot walking around a space station
Simulace kráčení robota po vesmírné stanici
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České vysoké učení technické v Praze
Czech Technical University in Prague
Czech Technical University in Prague
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Tato práce se zabývá simulací kráčení robota na vesmírné stanici. V simulaci je řešena inverzní kinematika robota, následně ze známých pohybů je vypočítána inverzní dynamika. Bylo navrženo řízení pohonů přes kaskádní regulaci a poté proběhla optimalizace momentů robota na určený pohyb.
This paper deals with the simulation of a robot walking on a space station. In the simulation, the inverse kinematics of the robot is solved, then the inverse dynamics is calculated from the known motions. Control of the actuators via cascade control has been proposed and then optimization of the robot moments for the specified motion has been performed.
This paper deals with the simulation of a robot walking on a space station. In the simulation, the inverse kinematics of the robot is solved, then the inverse dynamics is calculated from the known motions. Control of the actuators via cascade control has been proposed and then optimization of the robot moments for the specified motion has been performed.