The present Master thesis introduces the design and production of a climbing
robot with configuration of a five-legged multipod. This robot has been developed
for watering plants while climbing the wall where plants were placed. Our focus
has been mainly dedicated to those parts of the project, which in our belief are
of significant importance in the fields of robotics and control theory. We have
developed kinematics and dynamics models of the robot and its legs, algorithms
for planning individual movements and movement of the robot in general, and
a regulator for control of independent movements of all five of the robot’s legs
simultaneously. The regulator enables manipulation over the robot’s motion in
three different modes: via position control, via velocity control, and via force
control. Last but not least, we have developed an application for controlling
the robot’s motion based on aforementioned approaches, written in computer
programming language Python.
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