Diseño y construcción de un robot hexápodo utilizando un controlador pid para el desplazamiento en línea recta

Abstract

The fundamental objective of a mobile robot since its inception was access to unknown, distant or confined places that pose danger to human beings, hence the need for extensive research on the types of locomotion for mobile robots; In this search for a suitable locomotion, biomimetics has been a source of inspiration, which has immersed researchers in building locomotions inspired by insects. In this lies the present project to take the Theo Jansen structure that resembles a hexapod insect in a straight line, to achieve the objective precision with the mechanics is necessary so that the locomotion is coordinated and precise throughout the trajectory, in this sense, the project is able to engage in the search for information through a method of investigation and registration of different prototypes used for industry and academia. With this background, we proceed to design pieces that complement the structure and serve as the basis for coupling the different electronic elements, once the prototype is assembled, the PID algorithm is programmed, which is a controller that allows correcting displacement errors by regulating the different speeds of each motor.