Inverse Kinematic Learning Media on Hexapod Robot

This project initiated by my curiosity about inverse kinematic and sponsored by my lecture to complete my undergraduate thesis.

Here my educational media looks like. There is no huge visual different between my team robot, but it still has some different especially inside (the design measurement and program).

For main controller in this project, STM32 still be my top choices. The only reason is accuracy.

Here are example of inverse kinematic code:

void kinematic(int leg,double x,double z,double y)
{
    PL[leg]	= sqrt(pow(x,2) + pow(z,2));
    PL2[leg]	= sqrt(pow(PL[leg] - pCoxa,2) + pow(y,2));
    A1[leg]	= atan((PL[leg] - pCoxa)/y);
    A2[leg]	= acos((pow(pFemur,2) + pow(PL2[leg],2) –
    	   pow(pTibia,2))/(2*pFemur*PL2[leg]));
    A3[leg]	= acos ((pow(pFemur,2) + pow(pTibia,2) –
    	   pow(PL2[leg],2)) / (2*pFemur*pTibia));
    coxa[leg]	= 90 - rad2deg(atan2(x,z));
    femur[leg]	= rad2deg(A1[leg] + A2[leg]) - 90;
    tibia[leg]	= 90 - rad2deg(A3[leg]);
}

note: for some reasons, we can not provide the project details in here.