Dynamic Modeling of Step Climbing Wheeled Robot

Dynamic Modeling of Step Climbing Wheeled Robot

This following article presents the dynamic modeling of the developed step-climbing robot. The main idea is to develop the mathematical representation of the developed model. In this article the inverse arm model of a Newton-Euler analysis of free body motion is shown. The purpose of this model is t...

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Bibliographic Details
Main Authors: Srijan BHATTACHARYA, Neeta SAHAY, Sagarika PAL, Subrata CHATTOPADHYAY
Format: Article
Language:English
Published: IFSA Publishing, S.L. 2010-08-01
Series:Sensors & Transducers
Subjects:
Inverse arm
Newton-Euler approach
Two-link robot base
Joint variable
Dynamic model.
Online Access:http://www.sensorsportal.com/HTML/DIGEST/august_2010/P_670.pdf
id doaj-d3dbeb4b1a5e43958a6ff9a91e136f2b
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spelling doaj-d3dbeb4b1a5e43958a6ff9a91e136f2b2020-11-25T01:10:15ZengIFSA Publishing, S.L.Sensors & Transducers2306-85151726-54792010-08-011198193206Dynamic Modeling of Step Climbing Wheeled RobotSrijan BHATTACHARYA0Neeta SAHAY1Sagarika PAL2Subrata CHATTOPADHYAY3Instrumentation & Control Engineering Department, Haldia Institute of Technology P.O- Hatiberia, Haldia, Dist: Purba Medinipur – 721 657, IndiaApplied Electronics & Instrumentation Engineering Department, Haldia Institute of Technology P.O- Hatiberia, Haldia, Dist: Purba Medinipur – 721 657, IndiaDepartment of Electrical Engineering, National Institute of Technical Teachers’ Training and Research, Kolkata (Under MHRD, Govt. of India), Block-FC, Sector-III, Salt Lake City, Kolkata-700 106, IndiaDepartment of Electrical Engineering, National Institute of Technical Teachers’ Training and Research, Kolkata (Under MHRD, Govt. of India), Block-FC, Sector-III, Salt Lake City, Kolkata-700 106, IndiaThis following article presents the dynamic modeling of the developed step-climbing robot. The main idea is to develop the mathematical representation of the developed model. In this article the inverse arm model of a Newton-Euler analysis of free body motion is shown. The purpose of this model is to allow to compute the motor voltage required to produce given accelerations when the current is known and state of the arm and all of its parameters. http://www.sensorsportal.com/HTML/DIGEST/august_2010/P_670.pdfInverse armNewton-Euler approachTwo-link robot baseJoint variableDynamic model.
collection DOAJ
language English
format Article
sources DOAJ
author Srijan BHATTACHARYA
Neeta SAHAY
Sagarika PAL
Subrata CHATTOPADHYAY
spellingShingle Srijan BHATTACHARYA
Neeta SAHAY
Sagarika PAL
Subrata CHATTOPADHYAY
Dynamic Modeling of Step Climbing Wheeled Robot
Sensors & Transducers
Inverse arm
Newton-Euler approach
Two-link robot base
Joint variable
Dynamic model.
author_facet Srijan BHATTACHARYA
Neeta SAHAY
Sagarika PAL
Subrata CHATTOPADHYAY
author_sort Srijan BHATTACHARYA
title Dynamic Modeling of Step Climbing Wheeled Robot
title_short Dynamic Modeling of Step Climbing Wheeled Robot
title_full Dynamic Modeling of Step Climbing Wheeled Robot
title_fullStr Dynamic Modeling of Step Climbing Wheeled Robot
title_full_unstemmed Dynamic Modeling of Step Climbing Wheeled Robot
title_sort dynamic modeling of step climbing wheeled robot
publisher IFSA Publishing, S.L.
series Sensors & Transducers
issn 2306-8515
1726-5479
publishDate 2010-08-01
description This following article presents the dynamic modeling of the developed step-climbing robot. The main idea is to develop the mathematical representation of the developed model. In this article the inverse arm model of a Newton-Euler analysis of free body motion is shown. The purpose of this model is to allow to compute the motor voltage required to produce given accelerations when the current is known and state of the arm and all of its parameters.
topic Inverse arm
Newton-Euler approach
Two-link robot base
Joint variable
Dynamic model.
url http://www.sensorsportal.com/HTML/DIGEST/august_2010/P_670.pdf
work_keys_str_mv AT srijanbhattacharya dynamicmodelingofstepclimbingwheeledrobot
AT neetasahay dynamicmodelingofstepclimbingwheeledrobot
AT sagarikapal dynamicmodelingofstepclimbingwheeledrobot
AT subratachattopadhyay dynamicmodelingofstepclimbingwheeledrobot
_version_ 1725175924871135232

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