Paper title: COMPLEX WALKING ROBOT KINEMATICS ANALYSIS AND PLC MULTI-TASKING CONTROL
Author(s): LUIGE VLĂDĂREANU, ADRIAN CURAJ, RADU I. MUNTEANU,
Abstract: The paper presents a dynamic control system for the walking robot which is a complex
structure of a hexapod walking robot, having six degrees of freedom for each leg of the
three degrees of movement for positioning and three degrees of movement to paw foot
orientation. Issues for direct and inverse kinematics of the walking robots structure are
analyzed, determining the joints coordinates of the robot leg and of the orientation
mechanism. In the end, a multi-microprocessor architecture with multi-tasking control
is designed, tested through a virtual projection method and confirmed through computer
simulation, which allows a fast reply in feedback loop for robot real time control, with
improved stability and flexibility performance.
Keywords: Kinematics walking robot, Walking robot control, Multimicroprocessor
system, Robot dynamic control, Static and
dynamic stability Year: 2012 | Tome: 57 | Issue: 1 | Pp.: 90-99
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