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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

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...

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Published in: IEEE Transactions on Systems, Man, and Cybernetics: Systems
ISSN: 2168-2216 2168-2232
Published: 2017
Online Access: Check full text

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.
College: Faculty of Science and Engineering
Issue: 1
Start Page: 45
End Page: 57