Adaptive Control of Humanoid Robot Movement
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摘要: 用Danevit-Hartenberg坐标变换法推导了仿人机器人的动力学与运动学方程,建立了仿人机器人的广义雅可比矩阵.设计了自适应控制器,以保证该仿人机器人系统的渐近稳定.给出了该机器人在做高难度舞蹈动作时各关节的运动轨迹以及仿真截图.结果验证了该方法的可行性和有效性.Abstract: The dynamic and kinematic formulas were derived based on Danevit-Hartenberg coordinate transformation,and the generalized Jacobian matrix was obtained.An adaptive controller was designed to ensure the asymptotic stability of the robot system.Simulated snapshots and joint trajectories of a dancing humanoid robot were presented.The simulation results verified feasibility and effectiveness of the controller.
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Key words:
- humanoid robot /
- adaptive control /
- joint /
- movement /
- kinematics /
- dynamics /
- asymptotic stability
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