A master thesis from Aalborg University
Modelling and control of a six legged mobile robot
Author(s)
Term
10. term
Publication year
2010
Submitted on
2010-06-23
Pages
216 pages
Abstract
Det følgende speciale omhandler modelleringen og reguleringen af en autonom seksbenet mobil robot med 18 frihedsgrader. Tre modeller blev udarbejdet. Den første, som er den kinematiske model, beskriver positionen af robottens led ud fra vinklerne på robottens servomotorer. Den anden er en invers kinematisk model, som beskriver, hvilke vinkler, der er nødvendige for at opnå en given position af robottens ben. Den tredje model er en dynamisk model baseret på en iterativ Newton-Euler fremgangsmåde koblet sammen med en "free body". Denne sidste model blev dog ikke verificeret grundet manglende sensorer. Et software system blev designet for at gøre robotten i stand til at tage beslutninger omhandlende ruteplanlægning, mens et computer vision system blev imple- menteret for at gøre robotten i stand til at følge en linje. Endelig blev en "gait" generator konstrueret, og ud fra denne blev en regulator fremstillet. Regulatoren gjorde robotten i stand til at følge en sort linje, men det designede software system blev ikke implementeret grundet hardware problemer.
The following master thesis concerns the modelling and control of an autonomous, six legged mobile robot, with 18 degrees of free- dom. Three models were made, the first being a kinematic model, describing the position of the limbs of the robot based on the angles of the servo motors. The second being an inverse kinematic model, which derived the angles of the servo motors to produce a given end point position of the legs. And the third being a dy- namic model, based on the iterative Newton- Euler approach, combined with the dynamics of a rigid free body. This dynamic model was however not verified due to the lack of sensors on the robot. A software system was designed to make the mobile robot (MR) able to take decisions regarding path planning, and a com- puter vision system was implemented to make theMR capable of line tracking. Finally a gait generator was constructed, and based on this, a controller was implemented. The controller was able to make the MR track the black line, but the designed software system was not im- plemented due to hardware issues.
Keywords
hexapod ; control ; robot ; dynamic model
Documents
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