A Rig for Testing the Leg of a Wheel-Legged Robot

摘要

Abstract: The paper describes a rig specially constructed for testing a single leg of the wheel-legged robot being designed and presents exemplary test results. The aim of the tests was to verify the mechanical structure and control system operation in laboratory conditions. The operation of the control, communication and data transmission modules was verified. Also tests aimed at selecting proper parameters for the drive controllers were carried out on the test rig.