Kinematics, dynamics, PID and fuzzy logic control of two and three joints four-legged robot equipped with four degrees of robot arm

Control methods of robots play an important role in applications. Many methods have been developed on the control of robots. These methods have led to the emergence of many robots around us. Examples of these are robots with high task capacities such as snakes, dogs, lizards and flies. In this study, a two and three articulated four-legged robot and a four degree of freedom robot arm are designed in Matlab Simulink environment using Simscape library. Firstly, the flat kinematic analyses of the robots were obtained using the Denavit-Hartenberg method. The inverse kinematic analysis of the robots was performed using the obtained straight kinematic analysis. Then, all equations that calculate the torques of the joints with the Lagrange-Euler equation were extracted. All joints were added with PID controlled motor models. The joint position of the robots was controlled using PID and fuzzy logic. Tests were performed to determine which control system is the most suitable for the robots. Finally, trajectory planning was added to the robot designs and the optimal trajectory was determined while the robots were moving.