Control and Simulation on the Waist Mechanism of a Humanoid Robot Based on Dynamic Model
文献类型：会议论文
| 作者 | Li YJ(李艳杰); Wu ZW(吴镇炜) ; Zhong H(钟华)
|
| 出版日期 | 2008 |
| 会议名称 | 20th Chinese Control and Decision Conference |
| 会议日期 | July 2-4, 2008 |
| 会议地点 | Yantai, China |
| 关键词 | Humanoid Robot Dynamic model Waist Mechanism Simulation |
| 页码 | 1285-1289 |
| 通讯作者 | 李艳杰 |
| 中文摘要 | The wheel-based humanoid robots with waist mechanism have large workspace and high agility. The humanoid robot in this paper has a waist mechanism with two parallel driving motors. The waist mechanism connects the vehicle with the hunk of the humanoid robot. The dynamic characteristic of the waist mechanism is affected by the dynamic characteristic of arms and vehicle and the external forces or torques, as well as by the motion of its own. This paper firstly built the whole dynamic model of the humanoid robot using the effective Newton-Buler Algorithm and then built the dynamic model of the waist mechanism through simplifying the whole dynamic model without consideration of coupling motion of the joints. The simplified dynamic model expresses the dynamic relation among the vehicle, waist and arms of the humanoid robot, minimizes the calculation and is convenient for realizing the control algorithm based on the dynamic model. This paper presented the PD control and the calculated torques method for compensating the torque disturb as the control strategy of the waist mechanism based on its dynamic model. The simulation shows the control algorithm remarkably improves tie position tracing precision of the waist mechanism and improves the work precision of the humanoid robot. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 2 |
| 会议录 | 2008 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-11
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-1733-9 |
| WOS记录号 | WOS:000260562700262 |
| 源URL | [http://ir.sia.cn/handle/173321/19864]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Li YJ,Wu ZW,Zhong H. Control and Simulation on the Waist Mechanism of a Humanoid Robot Based on Dynamic Model[C]. 见:20th Chinese Control and Decision Conference. Yantai, China. July 2-4, 2008. |
入库方式： OAI收割
来源：沈阳自动化研究所
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