HEXAPOD MOVEMENT ALGORITHMS TO AVOID INTERFERENCE. ANGULAR MOVEMENT

Ilya Platov,Oleksii Pavlovskyi,Yuliia Pavlovska

doi:10.20535/1970.62(2).2021.249214

Abstract

This paper considers the possibility of using a stepping robot - hexapod for research, monitoring the condition of technical dry channels, enclosed spaces and more. Compared to existing designs used today, the hexapod has a list of advantages that make it a more versatile tool, namely: autonomy, due to the power supply installed at work, design features that ensure its increased patency on uneven surfaces. Instead, this type of work requires the development of complex algorithms for movement than in the case of wheeled or tracked machines, ie. hexapod is a platform that moves the limbs, which in turn move with the help of servos. Therefore, the movement of the platform is provided by the control of each servo. In addition, environmental information is additionally processed from rangefinders, limb con-tact sensors with the surface, cameras, accelerometers, etc. Particular attention is paid to robot rotation algorithms, as the proposed scope imposes restrictions on the ability to maneuver freely in space. An algorithm for rotating robots in confined spaces based on limb state matrices has been developed, which greatly simplifies the practical implementation and allows to easily change the type of stroke during the hexapod operation. It is also proposed to introduce a buffer state matrix, which allows you to remember the last position of the limbs of the robot in case of its failure, after the elimination of which, it is possible to continue moving from any last state. Or return to the starting position and change the route. The versatility of the algorithm allows its use not only in the development of the software part of the hesapod, but also for other types of walking robots. Since the developed algorithm allows you to easily modify the types of moves at each iteration of the step. In the future, it is planned to test this algorithm on a model of a hexapod and supplement it with the necessary components for vertical movement, which is very important for passability in this area of application.

Highlights

Introduction and problem statementIn recent years, the scope of use of such robots has developed quite rapidly, replenishing the arsenal of ideas and designs
Today there are methods and tools used in all the above areas. such are various caterpillar works, miniature wheeled machines, multilink works for in-tube diagnostics
This paper considers the use of hexapod for its use in the field of technical condition control in narrow or closed spaces, technical ducts, ventilation, etc

Summary

АВТОМАТИЗАЦІЯ ТА ІНТЕЛЕКТУАЛІЗАЦІЯ ПРИЛАДОБУДУВАННЯ

In the process of monitoring the condition of technical dry ducts, ventilation shafts, pipes, etc., the use of previously specified actions in the algorithm can lead to loss of stability of the robot, lead to its fall into failure or damage to the components of the robot To solve this problem, it is necessary to use adaptive motion algorithms, which are aimed at analyzing the environment using sensors mounted on the hexapod, and, depending on the situation, change or correction of motion [11]. Based on the obtained matrices, it is convenient to implement the program code of the movement algorithm, because such a matrix determines the state of the limb and allows you to change it using the parameters without processing the entire program This makes it easy to design different gait algorithms, which facilitates and speeds up experimental studies of gait work in specific locations where it is located. As you can see in fig. 7 shows the structure of the limb of a hexapod, which consists of two servos, respectively, has two degrees of freedom, connected by a hinge

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Conclusion