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Control and Simulation on the Waist Mechanism of a Humanoid Robot Based on Dynamic Model
Li YJ(李艳杰); Wu ZW(吴镇炜); Zhong H(钟华)
作者部门机器人学研究室
会议名称20th Chinese Control and Decision Conference
会议日期July 2-4, 2008
会议地点Yantai, China
会议录名称2008 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-11
出版者IEEE
出版地NEW YORK
2008
页码1285-1289
收录类别EI ; CPCI(ISTP)
EI收录号20084011609929
WOS记录号WOS:000260562700262
产权排序2
ISBN号978-1-4244-1733-9
关键词Humanoid Robot Dynamic Model Waist Mechanism Simulation
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.
语种英语
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被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19864
专题机器人学研究室
通讯作者Li YJ(李艳杰)
作者单位1.School of Mechanical Engineering, Shenyang Ligong University, Shenyang 110168, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang 110006, China
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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]. NEW YORK:IEEE,2008:1285-1289.
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