Starting point of the present thesis is a test environment for the
experimental examination of the movement of cascaded worm-like locomotion
systems. Such systems consist of N segments which can be relatively shifted
by N-1 actuators. By means of the synchronized control of the drives
different movement patterns of the system can be realized. The target of
this thesis is to implement and test experimentally a new algorithm for the
realization of a constant speed of the head segment on the existing robot
prototype. Here, the reprogramming of an improved, license-independent user
interface for the control of the test environment and the efficient
analysis of measured data is a central point. With the gained knowledges
from the analysis of the existing test environment concrete improvement
proposals are formulated in the first part of this thesis. After the
introduction into the kinematic theory for the calculation of movement
patterns the mathematic formulation of the algorithm is worked out for the
realization of a constant head speed and its testing in a computer
simulation. Moreover, a serial communication protocol for the improved
control for the exchange of data is developed and the existing software
which is implemented on the robot prototype is improved and enlarged by
additional algorithms. Furthermore, the results of the experimental
examination of the implemented algorithm are dis-cussed and compared to the
numerical results of the examination. Finally, optimization possibilities
for the robot prototype are described.