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Arabian Journal for Science and Engineering

, Volume 42, Issue 5, pp 2031–2042 | Cite as

Accurate Position and Posture Control of a Redundant Hexapod Robot

  • Gang ChenEmail author
  • Bo Jin
  • Ying Chen
Research Article - Mechanical Engineering

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.

Keywords

Position and posture Accurate control Hexapod robot Redundant actuation 

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Copyright information

© King Fahd University of Petroleum & Minerals 2017

Authors and Affiliations

  1. 1.Ocean CollegeZhejiang UniversityZhoushanChina
  2. 2.State Key Laboratory of Fluid Power and Mechatronic SystemsZhejiang UniversityHangzhouChina

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