Hardware/Software Design and Implementation of an Open Robotic Chain Using Custom Servo-Motor Modules

This thesis presents a comprehensive, top-down engineering approach to the design and control of a modular robotic limb for a hexapod platform. The primary objective is to overcome the performance limitations inherent in low-cost commercial actuation, which typically hinder precise legged locomotion. The research begins with the kinematic modeling and digital simulation of the limb in the MATLAB/ Simulink environment, establishing a simulation model to validate trajectory planning and inverse kinematics algorithms. The core contribution of this work is the development of a novel, custom "Smart Actuator" module designed to replace standard hobbyist servo-motors. This custom embedded solution integrates a high-resolution magnetic encoder, a high-current H-bridge driver, and an STM32 microcontroller. Crucially, it implements a non-linear Switching PID control strategy specifically tuned to mitigate stick-slip friction phenomena and mechanical backlash. The system is validated through a Hardware-in-the-Loop (HIL) architecture, bridging the simulation environment with the physical prototype. Experimental benchmarking demonstrates a dramatic improvement in performance.