Dynamic modeling and control in operationel space of an hexapod robot

Authors:
C. Mahfoudi;K. Djouani;M. Bouaziz;S. Rechak
Affiliations:
Nationale Polytechnical School, Institute of Mechanics, Algiers;University Paris 12, LIIA laboratory;Nationale Polytechnical School, Institute of Mechanics, Algiers;-
Venue:
ISPRA'06 Proceedings of the 5th WSEAS International Conference on Signal Processing, Robotics and Automation
Year:
2006

Citing 3
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Abstract

This paper concerns real-times hexapod robot force control. Based on an operational trajectory planner, a computed torque control for each leg of hexapod robot is presented. This approach takes in to account the real-time force distribution on the robot legs and the dynamic model of the hexapod. First, Kiniematic and dynamic modeling are presented. Than, a methodology for the optimal force distribution is given. The force distribution problem is formulated in terms of a nonlinear programming problem under equality and inequality constraints. Then, according to X. Chen et al, the friction constraints are transformed from nonlinear inequalities into a combination of linear equalities and linear inequalities. Therefore, the overall hexapod computed torque control is presented. Simulations are given in order to show the effectiveness of the proposed approach. Finally, some remarks and perspectives are given.