期刊名称：Balkan Journal of Electrical & Computer Engineering
印刷版ISSN：2147-284X
出版年度：2020
卷号：8
期号：1
页码：88-97
DOI：10.17694/bajece.650784
语种：English
出版社：Kirklareli University
摘要：In this study, a six-leg spider robot(hexapod) was designed and controlled for greenhouse, search and rescueoperations and military applications. Solidworks design program was used in thedesign stage and Matlab Simulink program was used in the control stage of therobot. In the study, a motion trajectory was determined by interpolationtechnique for the robot and it was aimed to move on this trajectory.Proportional-Integral-Differential (PID) controller and Fuzzy Logic Controller(FLC) were used for the trajectory control of the robot. The robot walkmovements were applied in both control types with motion on flat ground, motionon inclined ground, motion at different weights and different frictioncoefficients. In the analysis studies, the total weight of the robot was takeninto consideration as 4kg. As a result of the analysis studies, it was observedthat this robot, which was designed and analyzed, followed a trajectory definedby a mass of 4 kg with an error value of 1 mm on average. During the trajectorytracking, it was found that the Fuzzy controller performs better than the PIDcontroller at the turning points of the reference trajectory curve of therobot.
