Design On Control System Of Hexapod Robot

With the continuous development of society, directional work under structured environment cannot satisfy the needs of society, independent work under unstructured environment has become a new direction in the field of robotics research. Even in the face of rugged topography, multi-legged robot can still find the optimal foothold, its excellent stability and mobility, making it to be the key point in the robot field currently. This project carries out research on spider-like hexapod robot, and sets up its kinematics model,designs a control system based on bluetooth technology, analyzes the static stability of hexapod robot, and based on this, it uses Matlab software to carry on position control based on inverse kinematics.First, it establishes kinematics model of hexapod robot, from the swinging legs serial mechanism and supporting legs parallel mechanism to deduce positive and inverse kinematics equation respectively, at the same time it analyzes the Jacobian matrix between swinging space of foot endpoint and linear velocity of foot endpoint and angular rotation velocity, and by using simulation experiments to verify the validity of the equation.Secondly, it designs intelligent control system of hexapod robot based on Bluetooth technology, through three aspects of hardware foundation, communication system and software editing design, to realize wireless communications between mobile phone and hexapod robot. With mobile phone as a command transmitting terminal of the control system, can control the hexapod robot to complete multiple movements of forward,turning and backward with a variety of gaits, and the effectiveness of the design is verified through the experimental results.Then, based on the established kinematics model, it deduces the inverse kinematic relationship between robot body rotation Angle and joint rotation Angle, and the inverse kinematics relationship between the robot step length and the joint Angle of six legs, and then analyzes its static stability, on the premise of maintaining body stable, to solve the maximum step length by two methods, provides the theoretical foundation for the position control of hexapod robot.Finally, it conducts position control of hexapod robot by using MATLAB. Combined with MATLAB program editing, function editing, MATLAB and single chip microcomputer communication function, to convert the coordinate of any given point on the ground into the rotating angle of body or step length, and then according to the derived inverse kinematics equation to convert it into the rotation Angle of 18 joints steering gear,and then reach the designated position, thus the position control of hexapod robot is realized.