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Design, Simulation, and Control of a Hexapod Robot in Simscape Multibody

In: Applications from Engineering with MATLAB Concepts

Author

Listed:
  • Claudio Urrea Onate
  • Luis Valenzuela
  • John Kern

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.

Suggested Citation

  • Claudio Urrea Onate & Luis Valenzuela & John Kern, 2016. "Design, Simulation, and Control of a Hexapod Robot in Simscape Multibody," Chapters, in: Jan Valdman (ed.), Applications from Engineering with MATLAB Concepts, IntechOpen.
    • Handle: RePEc:ito:pchaps:100644
    DOI: 10.5772/63388
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    More about this item

    Keywords

    Mobile Hexapod Robot; Robot control; Modeling; Simscape Multibody; Virtual reality;
    All these keywords.

    JEL classification:

    • C60 - Mathematical and Quantitative Methods - - Mathematical Methods; Programming Models; Mathematical and Simulation Modeling - - - General

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