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Accurate Position and Posture Control of a Redundant Hexapod Robot

  • Research Article - Mechanical Engineering
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Abstract

The position and posture of multilegged robots are often readjusted to achieve optimum stability and movement space in rough terrains. The accurate position and posture control method are adopted to improve its control accuracy. The D–H model and direct kinematics on the robot’s velocity is analyzed, upon which an inverse redundant kinematics model on the hexapod robot’s velocity is presented. The relationship between rotation and posture angular velocities is investigated, and an inverse redundant position and posture kinematics model on the hexapod robot’s velocity is proposed. The accurate position and posture control model of the redundant hexapod robot are constructed and implemented using the inverse redundant position and posture kinematics on velocity. Simulations and experiments on the accurate position and posture control method test the model’s correctness and availability. This method is also applied in the walking movement of a redundant hexapod robot and verifies its effectiveness.

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Authors and Affiliations

  1. Ocean College, Zhejiang University, Zhoushan, China

    Gang Chen & Ying Chen

  2. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China

    Gang Chen, Bo Jin & Ying Chen

Authors
  1. Gang Chen
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  2. Bo Jin
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  3. Ying Chen
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Correspondence to Gang Chen.

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Chen, G., Jin, B. & Chen, Y. Accurate Position and Posture Control of a Redundant Hexapod Robot. Arab J Sci Eng 42, 2031–2042 (2017). https://doi.org/10.1007/s13369-017-2421-6

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  • DOI: https://doi.org/10.1007/s13369-017-2421-6

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