基于机器人形式化的赛艇动态建模与仿真

2011 16th International Conference on Methods & Models in Automation & Robotics Pub Date : 2011-09-29 DOI:10.1109/MMAR.2011.6031355

F. Rongère, W. Khalil, J. Kobus

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引用次数: 11

摘要

本文提出了一个用于划船模拟的机器人框架。它提供了由船、桨手和桨组成的系统的运动学和逆动力学模型。逆动力学模型是基于自由浮动基的递推牛顿-欧拉算法来处理具有运动回路的树状结构系统。给出了类划桨模型的仿真实例和外力模型。它由桨手和桨的6个连接、浮船和7个接头组成。它提供了一个分支结构，其中有一个循环，可以测试框架关于其目标的能力。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Dynamic modeling and simulation of rowing with a robotics formalism

This paper presents a robotics framework intended to be used for rowing simulation. It provides kinematic and inverse dynamic models for the system composed of boat, rowers and oars. The inverse dynamic model is based on the Recursive Newton-Euler Algorithm with free-floating base dealing with tree-structured systems with kinematic loops. Examples of simulations of a rowing-like model are given along with external force models. It is composed of a total of 6 links for the rower and the oars, the floating boat, and 7 joints. It presents a branched structure with one loop enabling to test the ability of the framework regarding its goals.

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2011 16th International Conference on Methods & Models in Automation & Robotics

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