Development of a Microcontroller Control System for the Motion Robot
Students Name: Maksymiak Ihor Mykolaiovych
Qualification Level: magister
Speciality: Electrical Energetics, Electrical Engineering and Electromechanics
Institute: Institute of Power Engineering and Control Systems
Mode of Study: full
Academic Year: 2025-2026 н.р.
Language of Defence: ukrainian
Abstract: The paper investigates the key aspects of design and synthesis of the control system for a walking robot. The main focus is given to reviewing the classification and functional blocks of robotic systems, developing a stepper motor for the walking mechanism, identifying the DC motor model, and synthesizing the robot leg control system, which ensures its stable and controllable locomotion. In the introduction, the relevance of developing efficient and reliable walking robots for applications in complex environments (such as uneven surfaces or industry) is substantiated, along with the practical value of the research in the field of robotics and mechatronics. The first chapter provides an Overview of the classification and key functional blocks of robotic systems. It reviews the main types of robots, their architecture, and functional components, such as sensors, actuators, the control unit, and mechanical structures. The second chapter describes the Development of the stepper motor for the robot’s walking mechanism. The principles of operation are presented, the constructive scheme is selected, and the parameters of the stepper motor—which is critical for the precise positioning of the robot’s limbs—are calculated. The third chapter performs the Identification of the DC motor model. Its mathematical model (e.g., equations of motion and electrical circuit) is defined, and its dynamic parameters (moment of inertia, time constant, winding resistance), necessary for accurate control system design, are identified experimentally or theoretically. The fourth chapter implements the Synthesis of the control system for the walking robot’s legs. Control algorithms are developed (e.g., based on PID controllers or position feedback) that ensure the required trajectory of the robot’s leg movement, walking stability, and dynamic balance. Modeling and analysis of the synthesized system’s operation are performed. The conclusion summarizes the research results, confirming the feasibility of using the developed solutions (stepper motor and control system) for creating a functional and controllable walking robot. Object of research: The locomotion mechanism of a walking robot. Subject of research: The development of electromechanical elements (stepper motor) and the synthesis of algorithms for the automated control system for the position of the walking robot’s legs. Goal of the work: To develop technical solutions for the stepper motor and synthesize an effective control system that will ensure stable and precise locomotion of the walking robot. Keywords: walking robot, stepper motor, DC motor, model identification, control system synthesis, locomotion, PID controller, robotics. References: 1. Long X, Wonsick M, Dimitrov V, Task-oriented planning algorithm for humanoid robots based on a foot repositionable inverse kinematics engine. IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 2016, РР. 1114–1120. IEEE. DOI: 10.1109/HUMANOIDS.2016.7803410. 2. Chestnutt J, Michel P, Kuffner J Locomotion among dynamic obstacles for the Honda ASIMO. IEEE/RSJ International conference on intelligent robots and systems, наук.-техн. конф. 2007, РР. 2572–2573. DOI: 10.1109/IROS.2007.4399431. 3. Claudio G, Spindler F, and Chaumette F. Vision-based manipulation with the humanoid robot Romeo. IEEE- RAS 16th International Conference on Humanoid Robots (Humanoids), 2016, pp. 286–293. DOI: 10.1109/HUMANOIDS.2016. 7803290. 4. Mao X, He H, and Li W. Path finding for a NAO humanoid robot by fusing visual and proximity sensors. 12th World Congress on Intelligent Control and Automation 100 (WCICA), 2016, РР. 2574–2579, DOI: 10.1109/WCICA.2016.7578365.