Kinematics, Dynamics, and Optimal Control of Pneumatic Hexapod Robot

Kinematics of the Hexapod Parallel Robot

Articolul prezintă o modelare recurentă pentru cinematica unui robot paralel Hexapod. Controlat de şase forţe, prototipul robotului paralel este un system mecanic spaţial cu şase grade de libertate şi cu şase lanţuri cinematice de lungimi constante care se conectează la platforma mobilă. Cunoscând poziţia şi mişcarea generală a platformei, se dezvoltă problema de cinematică inversă şi se determ...

LEARNING ABOUT CONTROL OF LEGGED LOCOMOTION USING A HEXAPOD ROBOT WITH COMPLIANT PNEUMATIC ACTUATORS by GABRIEL

by GABRIEL MARTIN NELSON This thesis describes efforts to get a biologically-inspired hexapod robot, Robot 3, to walk. Robot 3 is a pneumatically actuated robot that is a scaled-up model of the Blaberus discoidalis cockroach. It uses three-way solenoid valves, driven with PulseWidth-Modulation, and off-the-shelf pneumatic cylinders to actuate its 24 degrees of freedom. Single-turn potentiometer...

Robot Kinematics and Dynamics

Control of pneumatic robot arm dynamics by a neural network

The trajectory control of a pneumatically driven robot arm resembing a skeletal muscle system is studied. The arm dynamics have been shown to be hysteretic and signiicantly changing in time due to external innuences (Hesselroth et al., IEEE Systems, Man and Cybernetics, in press) thus requiring an adaptive controller. A highly adaptive feedback algorithm is suggested and shown to control accura...

Fractional Order Control of a Hexapod Robot

This paper studies the performance of integer and fractional order controllers in a hexapod robot with joints at the legs having viscous friction and flexibility. For that objective the robot prescribed motion is characterized in terms of several locomotion variables. The walking performance is analysed through the Nyquist stability criterion and several indices that reflect the system dynamica...