CASPIAN JOURNAL
MANAGEMENT AND HIGH TECHNOLOGIES
The control system of a three-point wheel-legged robot
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Read | Antonov Anton V, Vorotnikov Sergey A., Vibornov Nicholay A. The control system of a three-point wheel-legged robot // Caspian journal : management and high technologies. — 2016. — №2. — pp. 58-69. |
Antonov Anton V - student, Bauman Moscow State Technical University, 5, 2-aya Baumanskaya St., Moscow, 105007, Russian Federation, vlad2.vik@mail.ru
Vorotnikov Sergey A. - Ph.D. (Engineering), Bauman Moscow State Technical University, 5, 2-aya Baumanskaya St., Moscow, 105007, Russian Federation, vorotn@bmstu.ru
Vibornov Nicholay A. - Ph.D. (Physics and Mathematics), Astrakhan State University, 20a Tatishchev St, Astrakhan, 414056, Russian Federation, do_vybornov@aspu.ru
A kinematic diagram of the three-point (three-legged) wheel-legged robot and a construction of its layout, built in SolidWorks, are shown. A layered hierarchic control system of the robot is presented. Robot possible motion types are considered. An algorithm of walking over the flat surface is developed, movement phases of this algorithm are shown and a mathematical model of the robot motion is built in MATLAB. Chosen movement algorithm modeling was conducted; results of generalized coordinates changes in the robot joints, of the robot legs tips movement in the vertical direction and of the robot movement in its motion direction are obtained. Results of angular velocities and load torques changes in the robot jointsare presented through the example of the one of its legs. The analysis of the obtained results is made.
Key words: шагающий трехногий робот, кинематическая схема, система управления, ходьба, алгоритм движения, фазы движения, математическое моделирование, обобщенные координаты, угловые скорости, моменты нагрузки, legged three-point robot, kinematic diagram, control sys