A lot of research has recently been performed on mobile robots because of their value in human life. In various applications and areas, robotics are used. Maintaining the robot's protection and accessibility is important. If the robot doesn't always enable self-recovery, it will not be able to attain its target. This paper studies a tracked mobile robot control and path planning using the dijkstra's algorithm. Robot Operating System (ROS) is the software prototyping platform. The robot's basic mission and its control mechanism is explained. The analysis is carried out using three ultrasonic sensors requiring a low-effort framework enabling exploration in the robot route zone. In a simulated environment, the presented method was verified and the results showed successful path planning with obstacles avoidance.
This paper presents a dynamic modeling and experimental evaluation of reaction forces and joints torque of a hexapod robot walking in a straight line with a tripod gate. First, the kinematic model of the robot was considered by solving the forward and the inverse kinematics of each leg. Based on tripod walking gait and motion in a straight-line path, the trajectory of each leg is generated for support and transfer phase. Second, a complete dynamic model is presented to estimate the feet force reaction, and the torque of each joint. The foot interaction with the ground modeled depend on a compliant model, and a force distribution method is performed to find the required friction forces. This can minimize energy consumption and slippage possibility. Then, with the aid of using Matlab SimMechanics, a straight-line motion with tripod gate is simulated, and feet forces distribution and joints torques are calculated. Finally, real-time torque of each joint and normal force of each leg tip is measured, assuming at least three legs always remain in contact with the ground (which called support phase), and the other three are in swing phase, which offers two options for torque and force measurements.
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