Design of Control System for Underwater Hexapod Robot Based on Inverse kinematics and Foot Trajectory Optimization

LU Gangtai; YANG Ke; CHEN Hui

doi:10.11993/j.issn.2096-3920.2024-0087

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LU Gangtai, YANG Ke, CHEN Hui. Design of Control System for Underwater Hexapod Robot Based on Inverse kinematics and Foot Trajectory Optimization[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2024-0087

Citation:

LU Gangtai, YANG Ke, CHEN Hui. Design of Control System for Underwater Hexapod Robot Based on Inverse kinematics and Foot Trajectory Optimization[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2024-0087

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Design of Control System for Underwater Hexapod Robot Based on Inverse kinematics and Foot Trajectory Optimization

doi: 10.11993/j.issn.2096-3920.2024-0087

College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 200240, China

Received Date: 2024-05-23
Accepted Date: 2024-07-03
Rev Recd Date: 2024-06-25

Available Online: 2024-09-13

Abstract

Abstract

The underwater hexapod robot has strong carrying load ability and terrain adaptability, which is very suitable for near-earth observation and sampling in complex and changeable seabed environments. The control system is the key technology to realize the stable walking of underwater hexapod robots. In this paper, a control system design methodology for underwater hexapod robot based on inverse kinematics and foot trajectory optimization is proposed. The D-H coordinate system was established to derive the analytical relationship between the foot trajectory and the joint angle (positive kinematics). Through polynomial optimization, a smooth foot trajectory is planned, and then the corresponding joint angle (inverse kinematics) is solved. With PC104 as the main control unit, the foot trajectory optimization and inverse kinematics solving was designed in the ROS2 environment, and the synchronous tracking of the joint motor was realized through EtherCAT technology, and the control system suitable for the underwater hexapod robot was designed. The typical movement patterns of the underwater hexapod robot (straight and turning) were verified in the pool. Experimental results show that the control system designed in this paper can realize the stable walking of the underwater hexapod robot.
- underwater hexapod robot,
- control system,
- inverse kinematics,
- foot trajectory optimization

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References(13)

References

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