Modelling and control of a six legged mobile robot
Author
Villumsen, Sigurd
Term
10. term
Publication year
2010
Submitted on
2010-06-30
Pages
216
Abstract
Dette speciale handler om modellering og styring af en autonom, seksbenet mobil robot med 18 frihedsgrader (antal uafhængige bevægelser). Vi udviklede tre modeller: en kinematisk model, der beskriver benenes position ud fra servomotorernes vinkler; en invers kinematik, der beregner de nødvendige motorvinkler for at opnå en ønsket fodposition; og en dynamisk model baseret på den iterative Newton-Euler-metode kombineret med dynamik for et frit, stift legeme. Den dynamiske model kunne ikke verificeres, fordi robotten manglede sensorer. Derudover blev der designet et softwaresystem til ruteplanlægning og beslutningstagning, og et computersynssystem blev implementeret, så robotten kunne følge en linje. Til sidst blev der konstrueret en gangmønstergenerator, og på basis af den blev en controller implementeret. Controlleren fik robotten til at følge den sorte linje, men det designede softwaresystem blev ikke implementeret på grund af hardwareproblemer.
This master's thesis focuses on modeling and control of an autonomous six-legged mobile robot with 18 degrees of freedom (the number of independent motions). We developed three models: a kinematic model that describes leg positions from servo motor angles; an inverse kinematic model that computes the motor angles needed to reach a desired foot position; and a dynamic model based on the iterative Newton-Euler approach combined with rigid free-body dynamics. The dynamic model was not verified because the robot lacked sensors. We also designed a software system for path planning and decision-making, and implemented a computer vision system to enable line tracking. Finally, we built a gait generator and, based on it, implemented a controller. The controller enabled the robot to follow a black line, but the designed software system was not implemented due to hardware issues.
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Keywords
hexapod ; control ; robot ; dynamic model
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