Computer simulation of multi-link mobile robot motion over different type surfaces

摘要

The current state of the art in the research and computer simulation carried out for a mobile multi link robot is described. The research has deal with simulation of a five links robot structure during the motion over horizontal, vertical surfaces and over a ceiling. The construction of a real robot's model is presented. This five links robot may be equipped with vacuum, magnetic or mechanical grippers for keeping on surface or on a some construction and may be used for execution of different technological purposes in environment dangerous for human being, for example in space, under water and so on.