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Model validation of a hexapod walker robot

Published online by Cambridge University Press:  17 August 2015

István Kecskés ,
Ervin Burkus ,
Fülöp Bazsó  and
Péter Odry
István Kecskés*
Affiliation:
Doctoral School of Applied Informatics and Applied Mathematics, Obuda University, Budapest, Hungary. E-mail: kecskes.istvan@gmail.com, ervinbur@appl-dsp.com
Ervin Burkus
Affiliation:
Doctoral School of Applied Informatics and Applied Mathematics, Obuda University, Budapest, Hungary. E-mail: kecskes.istvan@gmail.com, ervinbur@appl-dsp.com
Fülöp Bazsó
Affiliation:
Wigner RCP, Institute for Particle and Nuclear Physics, Budapest, Hungary. E-mail: bazso.fulop@wigner.mta.hu SU-Tech College of Applied Sciences, Subotica, Serbia
Péter Odry
Affiliation:
SU-Tech College of Applied Sciences, Subotica, Serbia College of Dunaujvaros, Dunaujvaros, Hungary. E-mail: odry@appl-dsp.com
*
*Corresponding author. E-mail: kecskes.istvan@gmail.com
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Summary

Our complete dynamical simulation-model realistically describes the real low-cost hexapod walker robot Szabad(ka)-II within prescribed tolerances under nominal load conditions. This validated model is novel, described in detail, for it includes in a single study: (a) digital controllers, (b) gearheads and DC motors, (c) 3D kinematics and dynamics of 18 Degree of Freedom (DOF) structure, (d) ground contact for even ground, (e) sensors and battery model. In our model validation: (a) kinematical-, dynamical- and digital controller variables were simultaneously compared, (b) differences of measured and simulated curves were quantified and qualified, (c) unknown model parameters were estimated by comparing real measurements with simulation results and applying adequate optimization procedures. The model validation helps identifying both model's and real robot's imperfections: (a) gearlash of the joints, (b) imperfection of approximate ground contact model, (c) lack of gearhead's internal non-linear friction in the model. Modeling and model validation resulted in more stable robot which performed better than its predecessors in terms of locomotion.

Type
Articles
Information
Robotica , Volume 35 , Issue 2 , February 2017 , pp. 419 - 462
Copyright
Copyright © Cambridge University Press 2015 

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