Kinematic Modeling of a Walking Machine
Abstract
Purpose: Developing control systems for walking machines requires their kinematic and dynamic models. The goal of this research is the development of a kinematic model for an active dummy of a hexapod walking machine, getting a visual representation of its movement in space. Results: A mathematical description is suggested for a kinematic model of a hexapod as systems of equations to determine the coordinates of the machine units with preset angles between the limb links. A system of difference equations has been obtained which allows you to model the robot motion, controlled by velocity vector. On the base of the model, various types of robot motion were simulated in MATLAB software package. Angles of the robot's limbs are operated via hydraulic drives, and special equations were obtained which determine the relation between the drive rod positions and the angles. To evaluate the robot locomotion ability, the area of its foot reachability was built, and the analytical bounds of that area were specified. Practical relevance: The developed model can be used as a basis for a dynamical model when designing and approbating the robot motion control algorithms, and for robot dummy control in the follow-up drive mode.Published
2015-12-01
How to Cite
Mikhailov, V., Solov’eva, T., & Popov, V. (2015). Kinematic Modeling of a Walking Machine. Information and Control Systems, (6), 50-56. https://doi.org/10.15217/issn1684-8853.2015.6.50
Issue
Section
System and process modeling