Embedding optimized trajectory and motor controller into the Szabad(ka)-II hexapod robot

摘要

The driving of the Szabad(ka)-II hexapod robot was characterized with its minimal and non-optimized structure during the development of the robot. For this driving algorithm, a simulation environment has been developed, and based on the simulation model and recorded measurement results, the aforementioned algorithm has been validated. In the next step of the development, the optimization of the robot driving algorithm was elaborated in its simulation environment. In order, to implement the optimized controllers and trajectory, the software of the embedded system has to be rewritten, through which the developed fuzzy controllers and the high resolution leg-trajectories could be run on the robot. This paper on the one hand, introduces the essential aspects of the implementation and realization procedures of the optimized driving algorithm, on the other hand, gives a comparison assessment of the old and the new driving algorithms.