Publication:

Design of programs for localization, direct and inverse kinematic for a climbing robot

This project is part of a group of project destined to the creation of a climbing robot, and is aimed at programing the microcontroller with the function needed to perform its function. This project is focused on the design of an algorithm for the localisation of the robot’s position in a map of a surface with the information provided by the sensors of its components. With this aim in the project, two programs will be developed, one solves the problem and the equations of the direct kinematic (main program) and the other the inverse kinematic (auxiliary program) of the robot. In the main program apart from solving the direct kinematic of the robot, a function used to triangulate position will be implemented. With these programs the robot must be capable of fulfilling the following specific technical requirements: to know exactly the robot’s positions in the surface in which it is affixed with the help of a map and the sensors of the robot servo motors; to be able to determine the coordinates of the robot’s centre with the measures provided by the sensors. In other words, based on the information of the links’ configuration, achieve the position of the robot’s centre (direct kinematic); to be able to determine the position of the robot servo motors when the robot arrives to a desired position. In other words, based on the desired position of the robot’s centre, achieve the configuration needed for the robot’s links (inverse kinematic). Due to the experimental character of the project, the programs will be developed first in the software package Matlab.