Computer Aided Geometric Method of Forward Kinematics Analysis of Multi-Legged Walking Robots
The high order equation causing by analytic method in multi-legged robot forward kinematics analysis may have imaginary root, repeated root, extraneous root or even lost solution. A system based on the theory of computer aided geometric method is proposed. Consideration with the internal structural constraint relations of multi-legged walking robots, the solidworks model was constructed and Visual Basic develop platform was adopted to fulfill the secondary development of solidworks. A system of forward kinematics analysis of multi-legged walking robots is established. The example validates that the system is simple and effective for all reptiles-like quadruped walking robot.
L. W. Wang et al., "Computer Aided Geometric Method of Forward Kinematics Analysis of Multi-Legged Walking Robots", Advanced Materials Research, Vols. 317-319, pp. 829-834, 2011