Adjusting the Movements of the Robotic Platform Through Inverse Kinematics

Nevliudov, I. Sh.; Gurin, D.; Yevsieiev, V.

Публікація:
Adjusting the Movements of the Robotic Platform Through Inverse Kinematics

dc.contributor.author	Nevliudov, I. Sh.
dc.contributor.author	Gurin, D.
dc.contributor.author	Yevsieiev, V.
dc.date.accessioned	2025-09-18T13:09:09Z
dc.date.available	2025-09-18T13:09:09Z
dc.date.issued	2025
dc.description.abstract	The paper presents an approach to the development of a control system for a quadruped robotic platform using inverse kinematics. The solution enables accurate movement of the robot's legs to achieve stable motion and balancing under uncertain terrain conditions. The kinematic model is calculated using FreeCAD tools and implemented in a control code through the transformation of joint angles into PWM signals for servo drives. A simulation model in MATLAB Simulink was created to test the stabilization algorithm. The obtained results demonstrate the ability of the system to correct the robot's posture and maintain balance in real time, even under significant external disturbances .
dc.identifier.citation	Nevliudov I. Sh. Adjusting the Movements of the Robotic Platform Through Inverse Kinematics / Igor Nevliudov, Dmytro Gurin, Vladyslav Yevsieiev // Theoretical and Applied Aspects of Device Development on Microcontrollers and FPGAs, MC&FPGA-2025 : VІІ International Scientific and Practical Conference, June 27-28, 2025. – Kharkiv : NURE. – P. 4-8.
dc.identifier.uri	https://openarchive.nure.ua/handle/document/32820
dc.language.iso	en_US
dc.subject	quadruped robot
dc.subject	inverse kinematics
dc.subject	PID control
dc.subject	MATLAB Simulink
dc.subject	robotic balance
dc.title	Adjusting the Movements of the Robotic Platform Through Inverse Kinematics
dc.type	Thesis
dspace.entity.type	Publication