 Design, Simulation, and Control of a Hexapod Robot in Simscape MultibodyClaudio Urrea Onate, Luis Valenzuela and John Kern A chapter in Applications from Engineering with MATLAB Concepts from IntechOpen Abstract: In this chapter, we present the design, simulation, and control of a hexapod robot using tools available in MATLAB software. In addition, we design and implement a dynamic model (using the Simscape Multibody(TM) toolbox) as well as a three-dimensional model of the robot, using Virtual Reality Modeling Language (VRML), that help to visualize the robot's walking sequence. This three-dimensional model is interconnected with the Simscape Multibody(TM) blocks using MATLAB's virtual reality blocks. Apart from this, and following specific requirements, we design and implement a Proportional-Integral-Derivative controller in order to obtain a pre-established displacement for the robot that, thanks to the developed computer simulations, proved to be satisfactory. Special emphasis is put in obtaining a modular representation of the dynamic model of the studied robot because it will permit to design more sophisticated nonlinear controllers in future works, allowing a good dynamic behavior of the robot in front of environmental perturbations, an issue that will become evident through computer simulations of its displacement. Keywords: Mobile Hexapod Robot; Robot control; Modeling; Simscape Multibody; Virtual reality (search for similar items in EconPapers) Downloads: (external link) Related works: Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text Persistent link: https://EconPapers.repec.org/RePEc:ito:pchaps:100644 DOI: 10.5772/63388 Access Statistics for this chapter More chapters in Chapters from IntechOpen |
Is your work missing from RePEc? Here is how to contribute.
Questions or problems? Check the EconPapers FAQ or send mail to .
EconPapers is hosted by the
School of Business at Örebro University.