University of Engineering and Technology Lahore

Department of Mechatronics and Control Engineering

LAB 6: Programming a Three-Legged Robot Using Robotic

Development Kit
OBJECTIVE:
• Programming a Three-Legged Walking Robot using Robotic Development Kit and Exploration of
Assigned Task

APPARATUS:

• Robix Kits with USB interface

• Screwdriver Set
• Computer/Laptop
EVALUATION CRITERIA:
• Exp. understanding
• Exp. performance
• Software handling
• Accuracy/precision
INTRODUCTION:
Interface the Assembled Three-Legged Walking Robot from Lab # 5, and program to perform galloping stride.
Write your interfacing and programming sequences and share your observations and conclusion.

PROCEDURE:
Interfacing Sequence:
Step#1: First, we connected the robix controller to the laptop using the interfacing cable
Step#2: Then we opened the software and selected the pod1 as we were programming it in that pod
Step#3: Then we used teach mode to test the motors and their directions.
Step#4: Then we wrote the program in pod1 by defining some user defined functions.
Step#5: Then we uploaded the code in the controller and tested it.

MCT 451: Introduction to Robotics

Department of Mechatronics and Control Engineering, U.E.T. Lahore
 University of Engineering and Technology Lahore
Department of Mechatronics and Control Engineering

Programming Sequence:
Step#1: First we determined the position of the servos using the teach mode.
Step#2: Then defined a function macro fast to control the speed of the motors
Step#3: Then changed the position of the back legs using move command.
Step#4: The we changed the position if the front leg using moved command.
Step#5: Then we made it run is a loop so that robot could walk some distance.

PROGRAMMING CODE:
macro fast; maxspd all 200; accdec all 50; end;
macro run;
move 1 to 0, 2 to -300, 3 to -290, 4 to 0, 5 to 0, 6 to 0;
move 1 to 0, 2 to -480, 3 to -750, 4 to 90, 5 to 0, 6 to 0;
move 1 to 1280, 2 to -480, 3 to -980, 4 to 90, 5 to 0, 6 to -1280;
move 1 to 1280, 2 to -700, 3 to -980, 4 to 90, 5 to 470, 6 to -1280;
move 1 to 1280, 2 to -1060, 3 to -1050, 4 to 690, 5 to 470, 6 to -1280;
end;
fast;
run 0;

OBSERVATIONS:
Insert some snapshot of the robotic arm performing assigned task.

MCT 451: Introduction to Robotics

Department of Mechatronics and Control Engineering, U.E.T. Lahore
 University of Engineering and Technology Lahore
Department of Mechatronics and Control Engineering

RESULTS:
Show your demonstration to instructor for evaluation and grading.

CONCLUSIONS:
In this lab we learned how to program a three legged robot so that it could walk on its own and we
learned about how to mimic human leg movement in a robot to make it walk .

MCT 451: Introduction to Robotics

Department of Mechatronics and Control Engineering, U.E.T. Lahore