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Model Identification and Control Design for a Humanoid Robot
Wei He,
Weiliang Ge,
Yunchuan Li,
Yan-Jun Liu,
Chenguang Yang,
Changyin Sun
IEEE Transactions on Systems, Man, and Cybernetics: Systems, Volume: 47, Issue: 1, Pages: 45 - 57
Swansea University Author: Chenguang Yang
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DOI (Published version): 10.1109/TSMC.2016.2557227
Abstract
In this paper, model identification and adaptive control design are performed on Devanit-Hartenberg model of a humanoid robot. We focus on the modeling of the 6 degree-of-freedom upper limb of the robot using recursive Newton-Euler (RNE) formula for the coordinate frame of each joint. To obtain suff...
| Published in: | IEEE Transactions on Systems, Man, and Cybernetics: Systems |
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| ISSN: | 2168-2216 2168-2232 |
| Published: |
2017
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| Online Access: |
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| URI: | https://cronfa.swan.ac.uk/Record/cronfa28017 |
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| Abstract: |
In this paper, model identification and adaptive control design are performed on Devanit-Hartenberg model of a humanoid robot. We focus on the modeling of the 6 degree-of-freedom upper limb of the robot using recursive Newton-Euler (RNE) formula for the coordinate frame of each joint. To obtain sufficient excitation for modeling of the robot, the particle swarm optimization method has been employed to optimize the trajectory of each joint, such that satisfied parameter estimation can be obtained. In addition, the estimated inertia parameters are taken as the initial values for the RNE-based adaptive control design to achieve improved tracking performance. Simulation studies have been carried out to verify the result of the identification algorithm and to illustrate the effectiveness of the control design. |
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| College: |
Faculty of Science and Engineering |
| Issue: |
1 |
| Start Page: |
45 |
| End Page: |
57 |