Performance analysis of Hexapod leg with different controllers

This paper presents the comparative study and analysis on the controllers for Hexapod. At present, there are several compliance control problems related to the hexapod robots under different conditions. These problems can be reduced by improving the strategy of the controller. The parameters such as position, speed and angular velocity simulations are taken for the analytical study of the controllers. Modelling, design and the simulation of DC servo motor are performed. The analysis of its performance using various controllers, which include closed loop, PID and Fuzzy controller is presented. Through the analysis of different parameters of the controller, a suitable controller can be identified. The efficient controller is then selected for the leg position control of the hexapod. It can be verified that the control strategy has great importance in order to enhance the capabilities of the hexapod robot.