ABSTRACT
This chapter describes basic kinematics and dynamic models for robot/rigid body. In general, the mathematical kinematic model is obtained to implement the simulation of, say biped’s, robot kinematic, and the kinematics model is obtained by homogeneous transformation matrix applying the Denavit Hartenverg method. To evaluate any design of a robot by simulation, the kinematic and dynamic mathematical models of the robot including its physical characteristics are required. Robot manipulation implies its movement in certain space. Robot dynamics can be studied under two broad classifications such as forward dynamics and inverse dynamics. A dynamic model consists of a kinematic model of the robot mechanism and a set of inertia parameters. The robot’s stability at dynamic walking can then be achieved by applying the zero-momentum/moment point criterion in the incremental fuzzy PD controller to guarantee the balance control at walking. One approach is to utilize dynamic Bayesian network for representing controls, robot dynamic states and robot sensation states.
