Hexapod Robot Design and Performance Comparison of Fuzzy and PID Control Methods

Year 2020, , 88 - 97, 31.01.2020

Levent Gökrem , Mehmet Serhat Can , Sefa Aydın

https://doi.org/10.17694/bajece.650784

Cited By: 1

Abstract

In this study, a six-leg spider robot
(hexapod) was designed and controlled for greenhouse, search and rescue
operations and military applications. Solidworks design program was used in the
design stage and Matlab Simulink program was used in the control stage of the
robot. In the study, a motion trajectory was determined by interpolation
technique 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 walk
movements were applied in both control types with motion on flat ground, motion
on inclined ground, motion at different weights and different friction
coefficients. In the analysis studies, the total weight of the robot was taken
into consideration as 4kg. As a result of the analysis studies, it was observed
that this robot, which was designed and analyzed, followed a trajectory defined
by a mass of 4 kg with an error value of 1 mm on average. During the trajectory
tracking, it was found that the Fuzzy controller performs better than the PID
controller at the turning points of the reference trajectory curve of the
robot.

Keywords

Solidworks, Matlab, PID, fuzzy logic, simulink, hexapod robot

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