Inverse Kinematic Analysis Of A Quadruped Robot
Journal: International Journal of Scientific & Technology Research (Vol.6, No. 9)Publication Date: 2017-09-15
Authors : Muhammed Arif Sen; Veli Bakircioglu; Mete Kalyoncu;
Page : 285-289
Keywords : Quadruped robot; D-H parameters; forward kinematic; inverse kinematic; MATLAB; kinematic program; simulation.;
Abstract
This paper presents an inverse kinematics program of a quadruped robot. The kinematics analysis is main problem in the manipulators and robots. Dynamic and kinematic structures of quadruped robots are very complex compared to industrial and wheeled robots. In this study inverse kinematics solutions for a quadruped robot with 3 degrees of freedom on each leg are presented. Denavit-Hartenberg D-H method are used for the forward kinematic. The inverse kinematic equations obtained by the geometrical and mathematical methods are coded in MATLAB. And thus a program is obtained that calculate the legs joint angles corresponding to desired various orientations of robot and endpoints of legs. Also the program provides the body orientations of robot in graphical form. The angular positions of joints obtained corresponding to desired different orientations of robot and endpoints of legs are given in this study.
Other Latest Articles
- Analysis Of Supporting Factors On Foreign Direct Investment And Its Impact Toward Indonesian Employment And Export Performance Period 2005-2015
- Static In-wheel Wireless Charging Systems for Electric Vehicles
- Design And Analysis Of A Camless Valve Mechanism For I.C Engines Using Rotary Disc Valves
- Need For Coastal Water Management Tool For Oil Spill Simulation In Ghana
- The Health Consequences Of Child Labour In Sri Lanka
Last modified: 2017-10-22 19:57:31