Müller, Jörg; Schneider, Martin; Hiller, Manfred:
Mechatronic Modells for Simulation and Model Based Control of the Walking Machine ALDURO
In: In proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics - AIM´99 - Gerhard-Mercator-Universität - GH Duisburg, Fachgebiet Mechatronik Lotharstraße 1 47057 Duisburg, Germany, 1999, S. 543 - 548
Buchaufsatz/Kapitel in Sammelwerk / Fach: Maschinenbau
Titel:
Mechatronic Modells for Simulation and Model Based Control of the Walking Machine ALDURO
Autor(in):
Müller, Jörg; Schneider, Martin; Hiller, Manfred im Online-Personal- und -Vorlesungsverzeichnis LSF anzeigen
Erscheinungsjahr
1999
Erschienen in:
In proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics - AIM´99 - Gerhard-Mercator-Universität - GH Duisburg, Fachgebiet Mechatronik Lotharstraße 1 47057 Duisburg, Germany, 1999, S. 543 - 548

Abstract:

The system under investigation is the hydraulically driven autonomous large-scale combined legged and wheeled vehicle ALDURO. In this paper two comlete mechatronic simulation models, realized in the object-oriented programming language C++, will be presented. Both contain the mechanical system including an explicit solution of the kinematic loops. The first model is used as a basis for a model based motion control of the walking machine. the second, more detailed model, also includes a model of the ground contact and the dynamics of the complete hydraulic system. It used to test the model based controlle.