| Author | Atika Kongwittayapanit |
| Call Number | AIT Thesis no.ISE-99-04 |
| Subject(s) | Robots--Control systems
|
| Note | A thesis submitted in the partial fulfillment of the requirement for the degree of Master of Engineering, School of Advanced Technologies |
| Publisher | Asian Institute of Technology |
| Abstract | The purpose of this thesis is to develop kinematics controlled six-legged robot. In order to achieve the stated purpose, a new six-legged robot prototype is developed. The leg mechanism is the main mechanical design task. The leg mechanism is design to have 2 degree of freedom with 2 rotational actuators to achieve the motion flexibility. The stepping motor is preferred for actuation. The control unit is specifically developed for the robot. It composes of 3 main units, Z80 microprocessor on ETT mainboard, a new developed interface unit, and 3 sets of powerful switching unit. The robot is then studied for their kinematics characteristic. The forward walking motion control algorithm is realized. Due to the time limitation, the fully functional kinematics control algorithm is not developed. The robot kinematics analysis is numerically simulated. |
| Year | 1999 |
| Type | Thesis |
| School | School of Advanced Technologies |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun.; |
| Examination Committee(s) | Afzulpurkar, Nitin;Bohez, Erik L. J.; |
| Scholarship Donor(s) | Siemens AG.; |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 1999 |