Modified Force Distribution Method Based on Explicit Dynamics of a Hexapod Robot

This paper presents explicit dynamics of a hexapod robot via explicit dynamic method based on Lagrange approach which derive dynamics equation of a robotic system and reducing required calculations. Foot interaction with the ground is included based on a compliance method. To this end, a modified force distribution method is presented for conversion of the constraints in finding required friction forces. This method converts friction nonlinear-inequality constraints to a quadratic cost function subjected to linear- inequality ones with minimum leg slipping possibility. Furthermore, a scheme is proposed to generate the path of robot motion and the gait of robot. Obtained results reveal merits of the proposed method by simulated the robot motion in a simple straight path which will be discussed.

کلیدواژه ها:

Hexapod Robot ، Explicit Dynamics ، Modified Force Distribution ، Quadratic programming