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IJSTR >> Volume 6 - Issue 9, September 2017 Edition

International Journal of Scientific & Technology Research  
International Journal of Scientific & Technology Research

Website: http://www.ijstr.org

ISSN 2277-8616

Inverse Kinematic Analysis Of A Quadruped Robot

[Full Text]



Muhammed Arif Sen, Veli Bakircioglu, Mete Kalyoncu



Quadruped robot, D-H parameters, forward kinematic, inverse kinematic, MATLAB, kinematic program, simulation.



This paper presents an inverse kinematics program of a quadruped robot. The kinematics analysis is main problem in the manipulators and robots. Dynamic and kinematic structures of quadruped robots are very complex compared to industrial and wheeled robots. In this study, inverse kinematics solutions for a quadruped robot with 3 degrees of freedom on each leg are presented. Denavit-Hartenberg (D-H) method are used for the forward kinematic. The inverse kinematic equations obtained by the geometrical and mathematical methods are coded in MATLAB. And thus, a program is obtained that calculate the legs joint angles corresponding to desired various orientations of robot and endpoints of legs. Also, the program provides the body orientations of robot in graphical form. The angular positions of joints obtained corresponding to desired different orientations of robot and endpoints of legs are given in this study.



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