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Advances in Robot Design and Intelligent Control pp 267–275Cite as

Modelling of the Hexapod Mobile Robot Leg Using Matlab SimMechanics

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 371))

Abstract

In this paper the authors present a robot leg used to form a hexapod mobile robot structure. For the leg in question the direct kinematics, inverse kinematics and dynamic model were derived. The dynamic model was implemented using SimMechanics toolbox from Matlab. The trajectory for the leg tip was implemented using piecewise cubic spline interpolation. The algorithms and models were developed and simulated using the Matlab software suite.

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Author information

Authors and Affiliations

  1. Hella Romania, Caracal, Romania

    Sorin Mănoiu Olaru

  2. University of Craiova, 13, Craiova, Romania

    Mircea Niţulescu

Authors
  1. Sorin Mănoiu Olaru
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  2. Mircea Niţulescu
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Corresponding author

Correspondence to Sorin Mănoiu Olaru .

Editor information

Editors and Affiliations

  1. Fac of Auto Ctrl & Comp Sci (Automatica), University Politehnica of Bucharest, Bucharest, Romania

    Theodor Borangiu

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© 2016 Springer International Publishing Switzerland

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Olaru, S.M., Niţulescu, M. (2016). Modelling of the Hexapod Mobile Robot Leg Using Matlab SimMechanics. In: Borangiu, T. (eds) Advances in Robot Design and Intelligent Control. Advances in Intelligent Systems and Computing, vol 371. Springer, Cham. https://doi.org/10.1007/978-3-319-21290-6_27

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  • DOI: https://doi.org/10.1007/978-3-319-21290-6_27

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-21289-0

  • Online ISBN: 978-3-319-21290-6

  • eBook Packages: EngineeringEngineering (R0)

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