Kinematic Control of the Hexapod Robot

摘要

To design a control system for a walking robot, it is necessary to have kinematic and dynamic models of this robot. The aim of the study is to develop a kinematic model for a six-legged walking robot, which allows you to get a visual representation of its movement in space when creating control algorithms. Results: a mathematical description of the kinematic model of a six-legged walking robot (hexapod) was found in the form of systems of equations for determining the position of the robot nodes at given angles of rotation of the limb links. Based on the developed model, various types of robot movements were visualized in the MatLab package. To assess the possibilities of moving the robot, the area of reachability of the foot was constructed and the analytical boundaries of this area were found. Practical significance: the developed model can be used to build a dynamic model of motion control algorithms for a walking robot, as well as to control a machine model in a servo drive mode.