Šestnožni robot

MARN, MATIC (author), Puhan, Janez (mentor)

Roboti z nogami se v mnogo primerih lažje gibajo preko zelo razgibanega terena, na primer preko območja skalnatih tal, kot roboti, ki imajo kolesa ali gosenice. S primernim številom nog in načinom hoje dosežemo tudi dobro stabilnost. Zanimiv primer iz narave so žuželke, ki veliko število nog izkoriščajo za lažje gibanje. V magistrskem delu je opisan postopek razvoja šestnožnega robota. Število nog je bilo izbrano glede na dostopnost sestavnih komponent. Krmiljenje večnožnega robota predstavlja velik izziv, saj moramo realno-časno krmiliti osemnajst motorjev. Poznan položaj noge moramo pretvoriti v kote motorjev. Uporabljena je bila robotikom dobro poznana metoda inverzne kinematike. Poleg krmilnika in motorjev potrebujemo še napajanje sistema ter sposobnost brezžične komunikacije z mobilno napravo, s katero lahko vodimo robota. Brezžična komunikacija je izvedena preko povezave Bluetooth. Za komunikacijo z robotom je uporabljena že pripravljena in prosto dostopna mobilna aplikacija.

• Language: Slovenian
• Keywords: šestnožni robot, inverzna kinematika, freeRTOS, servo motor
• Work type: Master's thesis/paper
• Organization: FE - Faculty of Electrical Engineering
• Year: 2019
• PID: 20.500.12556/RUL-107908
• Publication date in RUL: 04.06.2019

MARN, MATIC, 2019, Šestnožni robot [online]. Master’s thesis. [Accessed 12 April 2025]. Retrieved from: https://repozitorij.uni-lj.si/IzpisGradiva.php?lang=eng&id=107908

Secondary language

• Language: English
• Title: Hexapod robot

Abstract

Compared to wheeled or tracked robots, legged robots have the ability to move more easily over though terrain. Robots with sufficient number of legs and with the right choice of gait are also very stable. An example of legged animals that we try to mimic, are insects. In this thesis, I write about the process of developing a hexapod robot. Controlling a hexapod robot is a big challenge. We have to control eighteen servo motors in real time. We know the end position of the legs which we need to convert to motor angles. For that we use inverse kinematics, a method well known in robotics. As well as a controller and motors, we also need to power the system and communicate wirelessly with a mobile device which acts as a remote control. To establish a wireless connection, a Bluetooth module was used. The module connects to a phone which is using a freely available mobile application.

• Keywords: hexapod, inverse kinematics, freeRTOS, servo motor