| Hexapod robots are widely used in a variety of high-risk industry and the field of scientific exploration because of many of joint, the movement of high stability and assume a large cargo. However, the hexapod robot is a multi-branched topology structure, resulting in a complex motion algorithms and a difficult coordinated motion control. Multi-legged robot gait planning and control of joint has been a hot topic in a long time. The hexapod robot movement is a single form and uncoordinated because the planning control method. And the new neural network control method is difficult to achieve complex motion algorithm. The main purpose of this paper is to achieve a variety of robot movement and flexibility movement, based on kinematics algorithm and mature control technology. This paper focuses on the following part and designed the hexapod robot control system.First, we analyze the structure of the hexapod robot and establish a coordinate system of platform and leg according to the characteristics of model, legs and platform kinematics analysis, solving one leg forward and inverse kinematics equations to calculate of single leg movement space. Second, we analyze the robot’s situ movement, the three walk gait and turning gait, from the point of view of the mimic insect movement, based on the principle of typical gait rhythmic movement, and give the different motion planning method. Finally, we set up a hardware system, and select the appropriate device. We designed the robot control system which has coordination and maneuverability. We transformed the motion planning task code and control logic, which is divided by movement tasks, and formation of a stable hexapod robot control system.We verify the correctness of one leg kinematics solver and the validity of gait motion planning, through hexapod robot movement and walking experiments, the control system which is designed by the division of tasks is an effective solution to the hexapod robot movement coordination and flexibility. |
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