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Mathematical Modelling and Control System Development of a Remote Controlled, IMU Stabilised Hexapod Robot
Walking robots are useful in search and rescue applications due to their ability to navigate uneven and complex terrain. A hexapod robot has been developed by the Robotics and Agents Research Lab at UCT, however multiple inadequacies have become evident. This work aims to produce a mathematical mode...
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| Format: | Thesis |
| Language: | English |
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Department of Mechanical Engineering
2020
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| _version_ | 1867611325988864000 |
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| access_status_str | Open Access |
| author | Christopher, Ross |
| author2 | Mouton, Hendrik D |
| author_browse | Christopher, Ross Mouton, Hendrik D |
| author_facet | Mouton, Hendrik D Christopher, Ross |
| author_sort | Christopher, Ross |
| collection | Thesis |
| description | Walking robots are useful in search and rescue applications due to their ability to navigate uneven and complex terrain. A hexapod robot has been developed by the Robotics and Agents Research Lab at UCT, however multiple inadequacies have become evident. This work aims to produce a mathematical model of the hexapod and using this model, implement an effective control algorithm to achieve a smooth walking motion and overcome the original flaws. The mathematical model was integrated with the mechanical structure of the hexapod and controlled by a micro-controller. This micro-controller allows for a rapid start-up and low power consumption when compared to previous iterations of the hexapod. Using a path generation algorithm sets of foot positions and velocities are generated. Generating these points in real time allows for walking in any direction without any pre-defined foot positions. To enable attitude control of the hexapod body, an inertial measurement unit was added to the hexapod. By using a PID controller the IMU pitch and roll data was used to control a height offset of each foot of the hexapod, allowing for stabilisation of the hexapod body. An improved wireless remote control was developed to facilitate communication with a host computer. The remote system has a graphical user interface allowing for walking control and status information feedback, such as error information and current battery voltage. Walking tests have shown that the hexapod walks successfully with a smooth tripod gait using the path generation algorithm. Stabilisation tests have shown that the hexapod is capable of stabilising itself after a disturbance to its pitch and/or roll in ±2.5 seconds with a steady state error of ±0.001 radians. This proves that the hexapod robot can be controlled wirelessly while walking in any direction with a stabilised body. This is beneficial in search and rescue as the hexapod has a high degree of manoeuvrability to access areas too dangerous for rescuers to access. With cameras mounted on the stabilised body, it can be used to locate survivors in a disaster area and assist rescuers in recovering them with speed. |
| format | Thesis |
| id | oai:open.uct.ac.za:11427/32210 |
| institution | University of Cape Town (South Africa) |
| language | eng |
| license_str | Not specified — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from UCTD — University of Cape Town Open Access Repository |
| publishDate | 2020 |
| publishDateRange | 2020 |
| publishDateSort | 2020 |
| publisher | Department of Mechanical Engineering |
| publisherStr | Department of Mechanical Engineering |
| record_format | dspace |
| source_str | UCTD — University of Cape Town Open Access Repository |
| spelling | oai:open.uct.ac.za:11427/32210 Mathematical Modelling and Control System Development of a Remote Controlled, IMU Stabilised Hexapod Robot Christopher, Ross Mouton, Hendrik D Mechanical Engineering Walking robots are useful in search and rescue applications due to their ability to navigate uneven and complex terrain. A hexapod robot has been developed by the Robotics and Agents Research Lab at UCT, however multiple inadequacies have become evident. This work aims to produce a mathematical model of the hexapod and using this model, implement an effective control algorithm to achieve a smooth walking motion and overcome the original flaws. The mathematical model was integrated with the mechanical structure of the hexapod and controlled by a micro-controller. This micro-controller allows for a rapid start-up and low power consumption when compared to previous iterations of the hexapod. Using a path generation algorithm sets of foot positions and velocities are generated. Generating these points in real time allows for walking in any direction without any pre-defined foot positions. To enable attitude control of the hexapod body, an inertial measurement unit was added to the hexapod. By using a PID controller the IMU pitch and roll data was used to control a height offset of each foot of the hexapod, allowing for stabilisation of the hexapod body. An improved wireless remote control was developed to facilitate communication with a host computer. The remote system has a graphical user interface allowing for walking control and status information feedback, such as error information and current battery voltage. Walking tests have shown that the hexapod walks successfully with a smooth tripod gait using the path generation algorithm. Stabilisation tests have shown that the hexapod is capable of stabilising itself after a disturbance to its pitch and/or roll in ±2.5 seconds with a steady state error of ±0.001 radians. This proves that the hexapod robot can be controlled wirelessly while walking in any direction with a stabilised body. This is beneficial in search and rescue as the hexapod has a high degree of manoeuvrability to access areas too dangerous for rescuers to access. With cameras mounted on the stabilised body, it can be used to locate survivors in a disaster area and assist rescuers in recovering them with speed. 2020-09-10T08:23:53Z 2020-09-10T08:23:53Z 2020 2020-09-10T08:23:25Z Master Thesis Masters MSc http://hdl.handle.net/11427/32210 eng application/pdf Department of Mechanical Engineering Faculty of Engineering and the Built Environment |
| spellingShingle | Mechanical Engineering Christopher, Ross Mathematical Modelling and Control System Development of a Remote Controlled, IMU Stabilised Hexapod Robot |
| thesis_degree_str | Master's |
| title | Mathematical Modelling and Control System Development of a Remote Controlled, IMU Stabilised Hexapod Robot |
| title_full | Mathematical Modelling and Control System Development of a Remote Controlled, IMU Stabilised Hexapod Robot |
| title_fullStr | Mathematical Modelling and Control System Development of a Remote Controlled, IMU Stabilised Hexapod Robot |
| title_full_unstemmed | Mathematical Modelling and Control System Development of a Remote Controlled, IMU Stabilised Hexapod Robot |
| title_short | Mathematical Modelling and Control System Development of a Remote Controlled, IMU Stabilised Hexapod Robot |
| title_sort | mathematical modelling and control system development of a remote controlled imu stabilised hexapod robot |
| topic | Mechanical Engineering |
| url | http://hdl.handle.net/11427/32210 |
| work_keys_str_mv | AT christopherross mathematicalmodellingandcontrolsystemdevelopmentofaremotecontrolledimustabilisedhexapodrobot |