COMPLEX WALKING ROBOT KINEMATICS ANALYSIS AND PLC MULTI-TASKING CONTROL

Abstract

The paper presents a dynamic control system for the walking robot which is a complex structure of a hexapod walking robot, having six degrees of freedom for each leg of the three degrees of movement for positioning and three degrees of movement to paw foot orientation. Issues for direct and inverse kinematics of the walking robots structure are analyzed, determining the joints coordinates of the robot leg and of the orientation mechanism. In the end, a multi-microprocessor architecture with multi-tasking control is designed, tested through a virtual projection method and confirmed through computer simulation, which allows a fast reply in feedback loop for robot real time control, with improved stability and flexibility performance.