The walking robot with orthogonal locomotors consists of a body mounted to be able to move along the upper horizontal frame. The lower part of its body is connected with the platform, installed on an additional horizontal frame. At the end of the frames, a pair of transversely spaced vertical telescopic support struts is mounted, through which the robot adapts to the irregularities of the ground. Between the hull and the platform there is a turning mechanism. DC motors are used as drives. The weight of the robot is 80 kg, maximum speed is 10 sm/s, and adaptation to the surface is 400 mm. The 360 degrees-rotation is discrete.The program motion control system uses the information from the robot's sensors of state and position relative to theexternal environment, which makes it posible to solve the problem of implementing programmed movement and to choose support points on the supporting surface. Most of the software of the robot consists of successive relative displacements of the horizontal frames, with periodic lowering of the support pillars to the surface. Experimental researches of the prototype shows that major energy losses are due to friction forces in the joints of its parts. One method of minimizing the energy for overcoming the frictional force is the implementation of optimal laws programmed motion of the robot determined by minimizing the criterion that determines irreversible losses in electric motors due to heat losses in its windings. The obtained laws of control of the voltage of the motors are used as a basis for the synthesis of control systems of the robot. A feedback speed-control system solves the problem of contour control based on the synthesized laws of the programmed motion of the robot. The motion control system is created with PWM control drives for DC motors.
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