Nowadays most industrial robots have 6 (or less) degrees of freedom.In order to be able to perform complex tasks in a flexibel environment however , it is necessary to increase the number of degrees of freedom.A robot with more than 6 degrees of freedom is called a redundant robot.In this case the knowledge of the position and orientation of the effector of the robot isn't sufficient to determine the position of the different links. Additional conditions , for example avoiding an obstacle or minimising energy ,are necessary.It is our aim to develop and test an efficient algorithm capable of controlling a redundant robot. Multi-legged machines are , due to their concept , always redundant.These machines have several advantages : low energy consumption , high accessibility of different terrains , ... furthermore the study of these machines provides an insight into the locomotion principles of man and animal.In this case , our aim is to design and manufacture a multi-legged machine , and develop a real-time controlling device.
|Effective start/end date||1/01/94 → 31/12/97|
Flemish discipline codes
- Mechanical and manufacturing engineering