Im planning to make my own algorithms for my hexapod, but i don’t have information that help me how to calculate de inverse kinematics (i have calculated for an arm, but in this case is different because the hexapod has 6 legs).
can anyone help me? 
Hi,
Very short explained: first solve the IK calculation for one leg, then solve it for the body. The number of legs doesn’t really mather. You could start by talking a look at my PEP sheet or Xan’s BAP code. You’ll also find much information in ours and others thread in this forum.
It sounds like you’ve control about the IK since you’ve solved it for an arm, which is much harder since your arm probably has more than 3DOF.
yes, in fact i made a proyect with an arm… i,ve solved with IK… 4 DOF’s…
But i don’t know how to calculate the DK and the IK of a body, like an Hexapod… I can make the calculation for a leg, but then? …
i have worked with mat lab, and C…
…ah by the way, i really like this forum…thank’s …
Thirst you calculate the position of the body. Then you found the position of the start of each leg attach to the body. And to finish from each foot position you calculate the angles of each leg. So you can move only foot or only the body or all together !
Like Zenta said,
Check out his PEP and my code. There is a sub that solves the body IK. You can check it out if you want. I think that Zenta got his calculations from the Theory of Applied Robotics: Kinematics, Dynamics, and Control. If you’ve got a lot of time and are a math guru, you could try that as well! 
Xan
I have started the construction of a demo leg, wit 3DOF’s
and i made a simulation on mat lab of one leg…
http://img512.imageshack.us/img512/5304/pata3dofswm2.jpg
mmm and where cand i find that, in wich topic o what do you mean with PEP…??
Zenta or Xan would be better answering this. Here is a link to the Project page for Zenta’s PEP:
lynxmotion.com/images/html/proj098.htm
Also here is a link to Xan’s project page:
lynxmotion.com/images/html/proj102.htm
Kurt
ohh… ok i will check that notes…
Just found this round-up of cheatsheets;
math-blog.com/2008/09/20/13-usef … at-sheets/
The one on trigonometry is graspable. Still haven’t spend enough time to learn+implement all that though.
Nice find!
The trig sheet would be very handy having around.
thanks, those pdf’s will help me alot… 
Hi im stuck again… 
… i’ve being working with the IK of the hexapod… i was trying to understand the PEP (of zenta… i think), I making a program in math lab and working with the ecuations of the tibia and the femur (of the PEP, IK section)…
The IK of femur and tibia works fine, and the coxa too… but i don’t know how the angle of the coxa affects the femur and the tibia.
The calculation of the IK section, are only for the femur and the tibia. But in the body and coxa section the IK is complete…
-------------Ok I’ve already solved-----------thanks 8)