DYNAMICS MODELING AND SIMULATION OF A KIND OF WHEELED HUMANOID ROBOT BASED ON SCREW THEORY

Author:

WANG JINGGUO1,LI YANGMIN12

Affiliation:

1. Department of Electromechanical Engineering, University of Macau, Av. Padre Tomás Pereira, Taipa 999078, Macao SAR, China

2. School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300191, China

Abstract

Based on the screw theory and Lie group notations, this paper presents a modeling method for a kind of wheeled humanoid robot whose upper human-like body is mounted on the top of a mobile platform with three wheels. By combining the reciprocal product of the twist and wrench with Jourdain variation principle, a general formulation method is proposed to model the whole system's dynamics that represents directly the relationship between the input and the resultant external and inertial wrench. Both the system kinematics and dynamics are derived carefully. The simulations are made to verify the proposed modeling methodology and the simulation results are also compared with the results obtained from the multi-body dynamics software.

Publisher

World Scientific Pub Co Pte Lt

Subject

Artificial Intelligence,Mechanical Engineering

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