Müller, Jörg; Hiller, Manfred:
Modelling, Simulation and Nonlinear Control of a Combined Legged and Wheeled Vehicle
In: In Proceedings of the 13th CISM-IFToMM Symposium Ro.Man.Sy., 2000 - University Duisburg-Essen, Faculty of Engineering, Chair of Mechatronics Lotharstraße 1, 47057 Duisburg, Germany, 2000
Buchaufsatz/Kapitel in Sammelwerk / Fach: Maschinenbau
Titel:
Modelling, Simulation and Nonlinear Control of a Combined Legged and Wheeled Vehicle
Autor(in):
Müller, Jörg; Hiller, Manfred im Online-Personal- und -Vorlesungsverzeichnis LSF anzeigen
Erscheinungsjahr
2000
Erschienen in:
In Proceedings of the 13th CISM-IFToMM Symposium Ro.Man.Sy., 2000 - University Duisburg-Essen, Faculty of Engineering, Chair of Mechatronics Lotharstraße 1, 47057 Duisburg, Germany, 2000

Abstract:

During the design process of the walking robot ALDURO virtual prototyping is used to test the design studies in a computer simulation, where the different parts can be tested under various conditions. It is not suf£cient to have separate models of the mechanical, hydraulic and electronic subsystems. A single detailed mechatronic design approach that incorporates all subsystems, and their in¤uence on each other, is required. For the ALDURO conventional linear controllers do not provide satisfactory results due to the highly nonlinear kinematics and dynamics of the legs. Therefore a nonlinear control concept is under development using a detailed model of the mechanical structure and the method of the exact input/output linearization.