Mathetamical Model Using Denavit-Hartenberg Algorithm For Kinematic Control of 12DOF Zoomorphic Robot

Abstract

Walking zoomorphic robots have a great advantage compared to other types of mobile robots thanks to their structure and high adaptability in many areas, and it is thanks to this adaptability that it generates many possibilities of implementation but, due to their locomotion system they tend to be complex to develop since the use of various actuators for their movement and control is taken into account, so to solve these problems, the implementation of algorithms and mathematical models are used because that define the characteristics of the structure and of the various actions that must be taken into account to carry out a movement in a simplified and understandable way. The present research was carried out through the implementation of the spiral methodology for the development of a mathematical model that defines the kinematic control for this type of robot where, through both inverse and forward kinematic analysis, the position and orientation of the robot were described by applying the Denavit-Hartenberg algorithm, as well as the use of polynomial interpolators for the tracking of trajectories, which was verified by using Matlab and Robotics Toolbox software simulating movement that the robot will perform with the different extremities, determining said movement with the establishment of speeds and times in the joints.