Dynamics Modeling and Fuzzy PD Control of Humanoid Arm
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- 英文论文题名：Dynamics Modeling and Fuzzy PD Control of Humanoid Arm
- 论文作者：Shuhuan Wen ; Tonghui Wang ; Zhiyuan Ma ; Xinbin Li
- 英文论文作者：Shuhuan Wen ; Tonghui Wang ; Zhiyuan Ma ; Xinbin Li ; Yanshan University
- 年：2017
- 作者机构：Yanshan University;
- 英文论文关键词：Dynamics Model ; Robotic Manipulator ; Euler-Lagrange ; Fuzzy-PD Control
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（A）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
- 语种：英文
- 分类号：TP242
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：6
- 文件大小：505k
- 原文格式：D
- 会议级别：全国
摘要
Dynamics model is the basis of controller design for a robot. This paper presents dynamics modeling method for the arm of humanoid robot Nao. The dynamics model is analyzed based on Euler-Lagrange equations. Firstly, this paper analyzes the upper limb topology of Nao model and establishes the dynamics models. Secondly, Fuzzy-PD controller is used in the dynamics model and compared with traditional PD controller. Finally, the proposed solution is tested in matlab environment to demonstrate the correctness of the robot dynamics model.
Dynamics model is the basis of controller design for a robot. This paper presents dynamics modeling method for the arm of humanoid robot Nao. The dynamics model is analyzed based on Euler-Lagrange equations. Firstly, this paper analyzes the upper limb topology of Nao model and establishes the dynamics models. Secondly, Fuzzy-PD controller is used in the dynamics model and compared with traditional PD controller. Finally, the proposed solution is tested in matlab environment to demonstrate the correctness of the robot dynamics model.
Dynamics model is the basis of controller design for a robot. This paper presents dynamics modeling method for the arm of humanoid robot Nao. The dynamics model is analyzed based on Euler-Lagrange equations. Firstly, this paper analyzes the upper limb topology of Nao model and establishes the dynamics models. Secondly, Fuzzy-PD controller is used in the dynamics model and compared with traditional PD controller. Finally, the proposed solution is tested in matlab environment to demonstrate the correctness of the robot dynamics model.
引文
[1]D.Bruno,S.Calinon,and D.Caldwell,Learning autonomous behaviours for the body of a flexible surgical robot,Autonomous Robots,2016:1–15.
[2]H.Lee,and A.Banerjee,Intelligent scheduling and motion control for household vacuum cleaning robot system using simulation based optimization,in Proceedings of 2015 Winter Simulation Conference,2015:1163–1171.
[3]J.Mart?nez-Rosas,L.Alvarez-Icaza,and D.Noriega-Pineda,Model-based dynamic friction compensation in robot actuators,International Journal of Robotics and Automation,30(1):1–12,2015.
[4]J.Huang,X.Zhang,X.Wang,J.Jie,S.Wang,and C.liu,A high-integrated and high-precision robot manipulator joint servo system,in Proceedings of 11th World Congress on Intelligent Control and Automation,2014:48–52.
[5]J.Rubio,P.Cruz,L.Paramo,J.Meda,D.Mujica,and R.Ortigoza,PID anti-vibration control of a robotic arm,IEEE Latin America Transactions,14(7):3144–3150,2016.
[6]A.Fehske,P.Marsch,and G.Fettweis,Bit per joule efficiency of cooperating base stations in cellular networks,in Proceedings of 2010 IEEE Globecom Workshops,2010:707–718.
[7]O.Lakhal,A.Melingui,and R.Merzouki,Hybrid approach for modeling and solving of kinematics of a compact bionic handling assistant manipulator,IEEE/ASME Transactions on Mechatronics,21(3):1326–1335,2016.
[8]S.Kuindersma,R.Deits,M.Fallon,A.Valenzuela,H.Dai,F.Permenter,T.Koolen,P.Marion,and R.Tedrake,Optimization-based locomotion planning,estimation,and control design for the atlas humanoid robot,Autonomous Robots,40(3):429–455,2016.
[9]G.Palestra,I.Bortone,D.Cazzato,F.Adamo,A.Argentiero,N.Agnello,and C.Distante,Social robots in postural education:a new approach to address body consciousness in ASD children,in Proceedings of 6th International Conference on Social Robotics,2014:27–29.
[10]A.Singh,and G.Nandi,NAO humanoid robot:analysis of calibration techniques for robot sketch drawing,Robotics and Autonomous Systems,79:108–121,2016.
[11]D.Dubois,H.Prade,and R.Yager,Readings in Fuzzy Sets for Intelligent Systems,San Francisco:Morgan Kaufmann,2014,chapter 2.
[12]J.Jantzen,Foundations of fuzzy control:a practical approach,Hoboken:John Wiley&Sons,2013,chapter 1.
[13]C.Chen,NN-based fuzzy control for TLP systems:a case study of practical structural parameters and wave properties,Applied Soft Computing,13(1):755–763,2013.
[14]V.Vembarasan,and P.Balasubramaniam,Chaotic synchronization of rikitake system based on TS fuzzy control techniques,Nonlinear Dynamics,74(1):31–34,2013.
[15]G.Chen,and T.Pham,Introduction to Fuzzy Sets,Fuzzy Logic,and Fuzzy Control Systems,Boca Raton:CRC press,2001,chapter 2.
[16]A.Vargas-Mart?nez,and L.Garza-Castafnon,Combining artificial intelligence and advanced techniques in fault-tolerant control,Journal of Applied Research and Technology,9(2):202–226,2011.
[17]A.Sheikhlar,A.Fakharian,H.Beik Mohammadi,and A.Adhami-Mirhosseini,Design and implementation of selfadaptive PD controller based on fuzzy logic algorithm for omni-directional fast robots in presence of model uncertainties,International Journal of Uncertainty,Fuzziness and KnowlegeBased Systems,24(5):761–780,2016.
[18]P.Gil,C.Lucena,A.Cardoso,and L.Palma,Gains tuning of fuzzy PID controllers for MIMO systems:a performancedriven approach,IEEE Transactions on Fuzzy Systems,23(4):757–768,2015.
[19]A.El-Nagar,and M.El-Bardini,Hardware-in-the-loop simulation of interval type-2 fuzzy PD controller for uncertain nonlinear system using low cost microcontroller,Applied Mathematical Modelling,40(3):2346–2355,2016.
[20]S.Das,I.Pan,and S.Das,Performance comparison of optimal fractional order hybrid fuzzy PID controllers for handling oscillatory fractional order processes with dead time,ISA Transactions,52(4):550–566,2013.
[21]S.Kajita,H.Hirukawa,and K.Harada,Dynamic Simulation,Berlin Heidelberg:Springer,2014,chapter 3.
[22]M.Spong,S.Hutchinson,and M.Vidyasagar,Robot modeling and control,Industrial Robot,17(5):709–737,2006.
[23]N.Seegmiller,and A.Kelly,High-fidelity yet fast dynamic models of wheeled mobile robots,IEEE Transactions on Robotics,32(3):614–625,2016.
[2]H.Lee,and A.Banerjee,Intelligent scheduling and motion control for household vacuum cleaning robot system using simulation based optimization,in Proceedings of 2015 Winter Simulation Conference,2015:1163–1171.
[3]J.Mart?nez-Rosas,L.Alvarez-Icaza,and D.Noriega-Pineda,Model-based dynamic friction compensation in robot actuators,International Journal of Robotics and Automation,30(1):1–12,2015.
[4]J.Huang,X.Zhang,X.Wang,J.Jie,S.Wang,and C.liu,A high-integrated and high-precision robot manipulator joint servo system,in Proceedings of 11th World Congress on Intelligent Control and Automation,2014:48–52.
[5]J.Rubio,P.Cruz,L.Paramo,J.Meda,D.Mujica,and R.Ortigoza,PID anti-vibration control of a robotic arm,IEEE Latin America Transactions,14(7):3144–3150,2016.
[6]A.Fehske,P.Marsch,and G.Fettweis,Bit per joule efficiency of cooperating base stations in cellular networks,in Proceedings of 2010 IEEE Globecom Workshops,2010:707–718.
[7]O.Lakhal,A.Melingui,and R.Merzouki,Hybrid approach for modeling and solving of kinematics of a compact bionic handling assistant manipulator,IEEE/ASME Transactions on Mechatronics,21(3):1326–1335,2016.
[8]S.Kuindersma,R.Deits,M.Fallon,A.Valenzuela,H.Dai,F.Permenter,T.Koolen,P.Marion,and R.Tedrake,Optimization-based locomotion planning,estimation,and control design for the atlas humanoid robot,Autonomous Robots,40(3):429–455,2016.
[9]G.Palestra,I.Bortone,D.Cazzato,F.Adamo,A.Argentiero,N.Agnello,and C.Distante,Social robots in postural education:a new approach to address body consciousness in ASD children,in Proceedings of 6th International Conference on Social Robotics,2014:27–29.
[10]A.Singh,and G.Nandi,NAO humanoid robot:analysis of calibration techniques for robot sketch drawing,Robotics and Autonomous Systems,79:108–121,2016.
[11]D.Dubois,H.Prade,and R.Yager,Readings in Fuzzy Sets for Intelligent Systems,San Francisco:Morgan Kaufmann,2014,chapter 2.
[12]J.Jantzen,Foundations of fuzzy control:a practical approach,Hoboken:John Wiley&Sons,2013,chapter 1.
[13]C.Chen,NN-based fuzzy control for TLP systems:a case study of practical structural parameters and wave properties,Applied Soft Computing,13(1):755–763,2013.
[14]V.Vembarasan,and P.Balasubramaniam,Chaotic synchronization of rikitake system based on TS fuzzy control techniques,Nonlinear Dynamics,74(1):31–34,2013.
[15]G.Chen,and T.Pham,Introduction to Fuzzy Sets,Fuzzy Logic,and Fuzzy Control Systems,Boca Raton:CRC press,2001,chapter 2.
[16]A.Vargas-Mart?nez,and L.Garza-Castafnon,Combining artificial intelligence and advanced techniques in fault-tolerant control,Journal of Applied Research and Technology,9(2):202–226,2011.
[17]A.Sheikhlar,A.Fakharian,H.Beik Mohammadi,and A.Adhami-Mirhosseini,Design and implementation of selfadaptive PD controller based on fuzzy logic algorithm for omni-directional fast robots in presence of model uncertainties,International Journal of Uncertainty,Fuzziness and KnowlegeBased Systems,24(5):761–780,2016.
[18]P.Gil,C.Lucena,A.Cardoso,and L.Palma,Gains tuning of fuzzy PID controllers for MIMO systems:a performancedriven approach,IEEE Transactions on Fuzzy Systems,23(4):757–768,2015.
[19]A.El-Nagar,and M.El-Bardini,Hardware-in-the-loop simulation of interval type-2 fuzzy PD controller for uncertain nonlinear system using low cost microcontroller,Applied Mathematical Modelling,40(3):2346–2355,2016.
[20]S.Das,I.Pan,and S.Das,Performance comparison of optimal fractional order hybrid fuzzy PID controllers for handling oscillatory fractional order processes with dead time,ISA Transactions,52(4):550–566,2013.
[21]S.Kajita,H.Hirukawa,and K.Harada,Dynamic Simulation,Berlin Heidelberg:Springer,2014,chapter 3.
[22]M.Spong,S.Hutchinson,and M.Vidyasagar,Robot modeling and control,Industrial Robot,17(5):709–737,2006.
[23]N.Seegmiller,and A.Kelly,High-fidelity yet fast dynamic models of wheeled mobile robots,IEEE Transactions on Robotics,32(3):614–625,2016.