FED-the free body diagram method. Kinematic and dynamic modeling of a six leg robot

Abstract

The free body diagram method, based on the dynamic equations of isolated rigid bodies, is used to overcome the difficulties in dynamic modeling of legged robots. The article presents a simulator for a six leg machine. Both kinematic and dynamic models are developed. Kinematic equations are derived with the Denavit-Hartenberg method. The free body diagram method is used to obtain the dynamic model. Some results of simulation are presented.