Kinematics Modeling and simple optimal path planning for one type of climbing robot

This paper is concerned with the derivation of kinematics model and simple path planning for one type of climbing robot. As the first step an appropriate model for one robot’s leg is described then forward and inverse kinematics equations are extracted respectively. As the second step we should define a simple kinematics model describing body movement. In this step for simplicity we introduce two assumptions. As the third step we extract dynamic equations for each stage of movement in an inverse dynamic form. As the last and the most important step we choose predefined sequences of states of legs and body movements, and then we try to plan an optimal simple path so that total consumed electrical energy in motors tends to its minimized state. In this step we use two different processes for optimization and show the third process is better and more effective.

Keywords:

climbing robot , kinematics , recursive dynamic , path planning , optimization , GA