Open AccessCONTROL OF THE HEXAPOD WALKING ROBOT / ŠEŠIAKOJO ŽINGSNIUOJANČIO ROBOTO VALDYMAS
Author(s) -
Raimondas Zubavičius,
Nerijus Paulauskas,
Martynas Šapurov
Publication year - 2013
Publication title -
mokslas - lietuvos ateitis
Language(s) - English
Resource type - Journals
eISSN - 2029-2341
pISSN - 2029-2252
DOI - 10.3846/mla.2013.17
Subject(s) - hexapod , kinematics , control theory (sociology) , inverse kinematics , servo , robot , trajectory , computer science , simulation , control (management) , artificial intelligence , physics , classical mechanics , astronomy
The analysis focuses on control features of the hexapod walking robot with three degree-of-freedom legs. This paper describes different servo control methods and presents the developed algorithm for formation of servos control signals. The geometric inverse kinematics method was used to calculate the angles of each joint of a leg. The authors present the results of the experimental investigation on the hexapod robot leg movement trajectory.
Article in Lithuanian