Abstract

Bu çalışmada son dönemde teknoloji dünyasında örneklerini sıklıkla gördüğümüz 12 aktüatörden oluşan dört bacaklı robot tasarımı yapılmıştır. Robot tasarımında ileri ve ters kinematik hesaplamaları kullanılırken robotun yürüyüş kontrolü PID ile gerçekleştirilmiştir. Kinematik denklemi üç serbestlik dereceli robot kol analizinin denklemleri çıkartılmıştır. Bu denklemlere göre bir sürücü yazılarak servo motorların kontrolü sağlanmıştır. Sistemde işlem kapasitesi ve uzaktan kontrol imkânı sebebiyle JETSON Nano kartı kullanılmıştır. Robotun kontrolü için basit bir mobil uygulama tasarlanarak Wi-Fi üzerinden cep telefonu ile kontrol edilebilir hale getirilmiştir. Sistemin yazılım geliştirmesi safhası için GAZEBO programı üzerinden simülasyonu yapılarak sistem optimize edilmiştir. Aynı zamanda sistem ROS (Robot İşletim Sistemi) yazılımı ile gerçekleştirilerek kontrolü daha yalın hale getirilerek kullanımı kolaylaştırılmıştır.

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