仿人机器人腰部机构的动力学建模、控制与仿真.pdf

2008 6 Jun12008 36 6 MACH INE TOOL HYDRAULICS Vol136 No16 仿人机器人腰部机构的动力学建模控制与仿真 1 2 2 , , ( 11 , 110168; 21, 110016) : , , - ; , , , , , PD, , , : ; ; : TP2 2 : A : 1001- 3881 ( 2008) 6- 005- 5 D ynam icM ode,l C on trol and Sim u lation on th eW aistM echan ism of a Hum anoid R obot 1 2 2 LIY anjie, WU Zhenw ei, ZHONG Hua ( 11College ofM echan icalEngineering, Shenyang Ligong Un iversity, Shenyang 110168, China; 21Robotics Laboratory, Shenyang Institute of Automation, Ch inese Academy of Science, Shenyang 110016, Ch ina) A bstrac t: For the humanoid robot w ith a waist configuration driven by two parallelm otors, the dynam ic characteristic of thew aist m echan ism is affected by the dynam ic characteristic of arm s and vehicle and the external forces of torques, asw ell as by them otion of its own. The whole dynam icm odel of the hum anoid robotw as bu ilt using the effective New ton2Eu ler Algorithm and the dynam icmodel of the waist m echanism w as bu ilt through smi plifying the whole dynam ic m odel w ithout consideration of coupling motion of the joints. The smi plified dynam icm odel expresses the dynam ic relation among the veh icle, w aist and arm s of the humanoid robot, m in mi izes the calcu lation and is convenien t for realizing the control algorithm based on the dynam icm ode.l The PD control and the calculated torques m ethod for compensating the torque d isturb were presented as the control strategy of the waist m echan ism based on its dynam icm odel. The smi ulation show s the control algorithm mi proves the position tracing precision of the waist m ec