Inverse Kinematics Analysis for Motion Prediction of a Hexapod Robot

摘要

Mobile robot has widely applied in every aspect of human life, and for the application in an unstructured environment, the legged robot is considered having more strength and agility. One of the legged robots is a hexapod robot; this six-legs robot is very robust in motion stability since it still can perform its task well even if one or more legs are malfunctioned. The problem of the legged robot is that the modeling of the legs is also necessary, and creates more complexity. Therefore, a simple approach is by modeling the leg as a 2 DOF arm manipulator consist of 2 links and two joints. The forward and inverse kinematics analysis were performed and simulated in an open source and free software, SCILAB. The feasibility of the proposed method is proven by the simulation result. The error between the desired and actual position is 0 cm, 0.1 cm, and 0.14 cm for position in x, y, and z-axis respectively.