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Computational Modeling of a Robot with Hydraulic Control by Velocity Vector Walking on a Solid Surface

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Abstract—

The use of walking machines is topical for many engineering works in complex physical media and hydrological studies. To develop the controlling system of a walking machines, it is necessary to have a kinematic and dynamic models of such a machine. The aim of this work is to develop a kinematic model for an acting model of a six-legged walking solid-state robot that will allow us to obtain in computational experiments a visual representation of a machine motion in space when actuating a control algorithm. The mathematical description of the kinematic model is developed for a six-legged walking robot in the form of systems of equations that allow us to determine the position of the robot units at given rotation angles of limb links. The system of difference equations allowing modeling of the robot motion with velocity vector control is obtained. The model is used for imitation modeling of scenarios of various types of robot movements in the MATLAB software. The model takes into account the events leading to a change in the velocity mode. This computational model assumes that the robot limb angle is changed by a hydraulic actuator. The equations that determine the relation of the hydraulic rod extension and the limb angles are derived taking into account the peculiarities of the control algorithm. To estimate the possibilities of robot movement, the foot reach area is constructed and the analytical boundaries; of this area are found. This kinematic model is used when developing and approbating machine movement control algorithms and also to control the machine model in the servo drive mode. The development of the methods of modelling the hydraulically controlled robotics is proposed on the base of the modernization of the formal hierarchy of hybrid- time events in an extended form of the kinematic model on the base of a hybrid automatic with transitions.

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Funding

This study was performed within the frameworlk of the project “Theoretical and Technological Foundations of Digital Transformations of Society and Economy of Russia” of the St. Peterburg Federal Research Center of the Russian Academy of Sciences, grant no. FFZF-2022-0003 (supervised by R.M. Yusupov).

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Authors and Affiliations

  1. St. Petersburg Federal Research Center of the Russian Academy of Sciences, 199178, St. Petersburg, Russia

    V. V. Mikhailov & A. Yu. Perevaryukha

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  1. V. V. Mikhailov
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  2. A. Yu. Perevaryukha
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Correspondence to A. Yu. Perevaryukha.

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The authors declare that they have no conflicts of interest.

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Translated by Yu. Ryzhkov

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Mikhailov, V.V., Perevaryukha, A.Y. Computational Modeling of a Robot with Hydraulic Control by Velocity Vector Walking on a Solid Surface. Phys. Solid State (2023). https://doi.org/10.1134/S1063783423010018

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  • DOI: https://doi.org/10.1134/S1063783423010018

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