V.Kh. Ankudinov – Post-graduate Student, 

Department «Information Systems and Networks», Kaluga branch of the Bauman MSTU

E-mail: vladislav.ankudinov@gmail.com

A.V. Maksimov – Ph.D.(Eng.), Associate Professor, 

Department «Information Systems and Networks», Kaluga branch of the Bauman MSTU E-mail: av_maximov@bk.ru

Based on the results described in previous publications the inverse kinematics problem of hexapod is solved, compatible with the majority of insect like structures with three degrees of freedom for each leg. The results can be used to further solve control problems, in particular gait synthesis.

With the example of hexapod «Snejinka» and based on the results described in previous publications solved inverse kinematic problem of hexapod, compatible with the majority of insect like structures with three degrees of freedom for each leg. Advantages of analytical method compared to iterative, cyclic coordinate descent method are shown. The results can be used to further solve control problems, in particular gait synthesis.

1. Ankudinov V.Kh., Maksimov A.V. Kinematicheskaya model geksapoda Chast I: matrichnye modeli. Elektromagnitnye volny i elektronnye sistemy. 2016. T. 21. № 9. S. 56−65. (in Russian)
2. Ankudinov V.Kh., Maksimov A.V. Konstruktsiya geksapoda «Snezhinka V0.1.4». Materialy Vseros. nauchno-tekhnich. konf. «Naukoemkie tekhnologii v priboro- i mashinostroenii i razvitie innovatsionnoi deyatelnosti v vuze». M.: MGTU im. N.E. Baumana. 2014. T. 4. S. 55−58. (in Russian)
3. Fu K., Gonsales P., Li K. Robototekhnika. M.: Mir. 1989. 621 s. (in Russian)
4. Ankudinov V.Kh., Maksimov A.V, Starkov C.O. Apparatno-programmnyi kompleks naturnykh issledovanii shagayushchego robota geksapoda. Tezisy dokladov VI Mezhdunar. molodezhnoi nauchnoi shkoly-konferentsii. 17−21 aprelya 2017. M.: NIYaU MIFI. 2017. Ch. 1. S. 78−79. (in Russian)
5. Ankudinov V.Kh., Maksimov A.V., Starkov S.O. Hardware-software complex of in-depth studies of hexapod walking robot. Journal of Physics: Conference Series. 2018. V. 945. № 1.
6. Chernorutskii I.G. Metody optimizatsii. Kompyuternye tekhnologii. SPb.: BKhV-Peterburg. 2011. (in Russian)
7. Ankudinov V.Kh. Sintez prosteishego ALU dlya protsessinga kvaternionov s ispolzovaniem yazyka VHDL. Materialy regionalnoi nauchnotekhnich. konf. studentov, aspirantov i molodykh uchenykh «Naukoemkie tekhnologii v priboro- i mashinostroenii i razvitie innovatsionnoi deyatelnosti v vuze». M.: MGTU im. N.E. Baumana. 2012. T. 2. S. 259−262. (in Russian)
8. Maksimov A.V., Maksimova E.A. Effektivnost metodov vosstanovleniya normy chislennogo resheniya kvaternionnykh kinematicheskikh uravnenii. Elektromagnitnye volny i elektronnye sistemy. 2014. T. 19. № 10. S. 18−24. (in Russian)
9. Maksimov A.V., Maksimova E.A., Frolkina A.A. Chetyrekhrazryadnyi summator chetyrekh slagaemykh. Elektromagnitnye volny i elektronnye sistemy. 2015. T. 20. № 7. S. 66−72. (in Russian)
10. Konovalov I.V., Maksimov A.V., Konovalov V.N. Podkhod k logicheskomu sintezu summatora dlya slozheniya neskolkikh mnogorazryadnykh dvoichnykh chisel. Trudy Mezhdunar. konf. «Sistemy proektirovaniya, tekhnologicheskoi podgotovki proizvodstva i upravleniya etapami zhiznennogo tsikla promyshlennogo produkta (CAD/CAM/PDM – 2014)». Pod red. A.V. Toloka. 2014. S. 77−80. (in Russian)