The paper delivered describes a new approach into kinematics and dynamics of the robots with a tree-like kinematic structure based on the elements of graph theory. Block-matrix equation for robot's movement within generalized coordinates is valid for different tree-like kinematic structures with no change in tracing. It permits to develop generalized software for the whole class of tree-like kinematic structure. Some of the modelling details in hydraulic actuator of bipedal robot are submitted. Experimental research data of robot's walking based on mathematical modelling are compared to those of a pilot model.
The task of a relay-linear control algorithm for an electro-hydraulic servo drive (EHSD) was considered. This algorithm provides reconfiguration of the state components feedback coefficients at the very initial stage of the control object movement, when the optimized control action does not depend on these coefficients. A FESTO hydraulic learning system combined with Matlab+Simulink Desktop Real Time was used for realization of the developed algorithm. Experimental results are included.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.