Although this is long since a 'solved' problem, it is nonetheless difficult to get right on an embedded platform because the equations are tough to solve symbolically or numerically. I'll be developing an approach where a workstation precomputes a number of tables which are downloaded with the robot firmware and then used by the robot in real time.

The first step is to get accurate positioning of a single leg. We wish to compute the three servo angles...

**theta****S**- Swing angle**theta H**- Hip angle**theta K**- Knee angle

**X**- leg displacement forwards (horizontal)**Y**- leg displacement perpendicular to body (horizontal)**Z**- distance from hip to tip of foot (vertical)

hi, i'm ali. now i'm still build a hexapod robot using AX-12, can i ask inverse kinematics for AX-12, can i ask the source code to control AX-12 with Inverse Kinematics?? here my email alihasyim92@gmail.com

ReplyDeleteI need to do some tidying up on source code first or it may not be understandable. But yes, I will be releasing source code.

ReplyDeletehi, but i need now the source code.. i will learn your code..

ReplyDeletevery thank you

how??

ReplyDelete