Mathematical Modelling and Control System Development of a Remote Controlled, IMU Stabilised Hexapod Robot
| dc.contributor.advisor | Mouton, Hendrik D | |
| dc.contributor.author | Christopher, Ross | |
| dc.date.accessioned | 2020-09-10T08:23:53Z | |
| dc.date.available | 2020-09-10T08:23:53Z | |
| dc.date.issued | 2020 | |
| dc.date.updated | 2020-09-10T08:23:25Z | |
| dc.description.abstract | 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. | |
| dc.identifier.apacitation | Christopher, R. (2020). <i>Mathematical Modelling and Control System Development of a Remote Controlled, IMU Stabilised Hexapod Robot</i>. (). ,Engineering and the Built Environment ,Department of Mechanical Engineering. Retrieved from http://hdl.handle.net/11427/32210 | en_ZA |
| dc.identifier.chicagocitation | Christopher, Ross. <i>"Mathematical Modelling and Control System Development of a Remote Controlled, IMU Stabilised Hexapod Robot."</i> ., ,Engineering and the Built Environment ,Department of Mechanical Engineering, 2020. http://hdl.handle.net/11427/32210 | en_ZA |
| dc.identifier.citation | Christopher, R. 2020. Mathematical Modelling and Control System Development of a Remote Controlled, IMU Stabilised Hexapod Robot. . ,Engineering and the Built Environment ,Department of Mechanical Engineering. http://hdl.handle.net/11427/32210 | en_ZA |
| dc.identifier.ris | TY - Master Thesis AU - Christopher, Ross AB - 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. DA - 2020_ DB - OpenUCT DP - University of Cape Town KW - Mechanical Engineering LK - https://open.uct.ac.za PY - 2020 T1 - Mathematical Modelling and Control System Development of a Remote Controlled, IMU Stabilised Hexapod Robot TI - Mathematical Modelling and Control System Development of a Remote Controlled, IMU Stabilised Hexapod Robot UR - http://hdl.handle.net/11427/32210 ER - | en_ZA |
| dc.identifier.uri | http://hdl.handle.net/11427/32210 | |
| dc.identifier.vancouvercitation | Christopher R. Mathematical Modelling and Control System Development of a Remote Controlled, IMU Stabilised Hexapod Robot. []. ,Engineering and the Built Environment ,Department of Mechanical Engineering, 2020 [cited yyyy month dd]. Available from: http://hdl.handle.net/11427/32210 | en_ZA |
| dc.language.rfc3066 | eng | |
| dc.publisher.department | Department of Mechanical Engineering | |
| dc.publisher.faculty | Faculty of Engineering and the Built Environment | |
| dc.subject | Mechanical Engineering | |
| dc.title | Mathematical Modelling and Control System Development of a Remote Controlled, IMU Stabilised Hexapod Robot | |
| dc.type | Master Thesis | |
| dc.type.qualificationlevel | Masters | |
| dc.type.qualificationlevel | MSc |