Research on the effective use of joint-legged robots continues rapidly in many sectors. However, studies on pentapod robots are rare. In this study, a heavy-duty 5-legged robot on which a manipulator's arm with 3-axis and rotating joints is placed was modeled in a Matlab Simscape Multibody environment. The walking simulations of the robot and the position control of the manipulator arm were carried out. PID control method was used for the control of the joints. In order to minimize the vibrations of the base and the gripper end, a suitable gait sequence for 5 leg structure was formed. The effects of vibrations in the robot's base during the walk on manipulator position control are presented graphically and the results are discussed.

在许多领域，关于有效使用腿式机器人的研究仍在迅速进行。但是，对五足机器人的研究很少。在这项研究中，在Matlab Simscape多体环境中对重型5足机器人进行了建模，在该机器人上放置了具有3轴和旋转关节的机械臂。进行了机器人的行走模拟和机械臂的位置控制。PID控制方法用于关节的控制。为了使基座和抓取器端部的振动最小化，形成了适合5腿结构的步态顺序。图形化地显示了行走过程中机器人基座振动对机械手位置控制的影响，并讨论了结果。