Implementation of Inverse Kinematics Method for Self-Moving on Hexapod Robot
Keywords:
robot, hexapod, inverse kinematics, self-moving, servo motor, degree of freedomAbstract
The development of robotics is overgrowing with the increasing number of robot competition activities in Indonesia. One of the divisions in the Indonesian robot competition is smart robots. One of the obstacles in the smart robot competition is the uneven playing field. The design of the legged robot system is an option to overcome these obstacles. The smart robot has six legs resembling insects, often called a hexapod robot. This study aimed to determine the results of implementing the inverse kinematics method on the balance of the hexapod robot when doing self-moving. This research starts by designing the mechanical system of the hexapod robot, designing the self-moving, and testing the balance of the self-moving on the hexapod robot with the inverse kinematics method. The design of the mechanical system includes the design of the robot body layout, the design of the robot legs, the sensor settings, and the servo motor movement settings. Designing the hexapod robot body's layout includes determining the number of legs on the robot body, as many as six robot legs. While in the design of the robot legs, each robot leg has 3 degrees of freedom. A servo motor drives each angle of degrees of freedom on each leg of the robot, so the number of servo motors needed is 18. Furthermore, the design of the self-moving system includes the analysis of the coordinate transformation of the robot body and legs. The last stage is to test the self-moving balance using the inverse kinematics method on the hexapod robot. The test is carried out by determining the initial angle on each servo motor of each robot leg, then moving the robot leg on the Y axis from 72 to 78.9 to obtain a change in angle with the same pattern at the initial angle. This shows that the inverse kinematics method is suitable for adjusting the balance of the hexapod robot when doing self-moving.
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