Balkan Journal of Electrical and Computer Engineering 2147-284X 2147-284X MUSA YILMAZ 10.17694/bajece.650784 Electrical Engineering Elektrik Mühendisliği Hexapod Robot Design and Performance Comparison of Fuzzy and PID Control Methods https://orcid.org/0000-0003-2101-5378 Gökrem Levent TOKAT GAZİOSMANPAŞA ÜNİVERSİTESİ https://orcid.org/0000-0003-2356-9921 Can Mehmet Serhat TOKAT GAZİOSMANPAŞA ÜNİVERSİTESİ https://orcid.org/0000-0001-9965-2903 Aydın Sefa 01 31 2020 8 1 88 97 11 25 2019 12 10 2019 Copyright © 2013, Balkan Journal of Electrical and Computer Engineering 2013 Balkan Journal of Electrical and Computer Engineering

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.

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