Kinematics and Control System Design of Manipulators for a Humanoid Robot
Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 32870
Kinematics and Control System Design of Manipulators for a Humanoid Robot

Authors: S. Parasuraman

Abstract:

In this work, a new approach is proposed to control the manipulators for Humanoid robot. The kinematics of the manipulators in terms of joint positions, velocity, acceleration and torque of each joint is computed using the Denavit Hardenberg (D-H) notations. These variables are used to design the manipulator control system, which has been proposed in this work. In view of supporting the development of a controller, a simulation of the manipulator is designed for Humanoid robot. This simulation is developed through the use of the Virtual Reality Toolbox and Simulink in Matlab. The Virtual Reality Toolbox in Matlab provides the interfacing and controls to an environment which is developed based on the Virtual Reality Modeling Language (VRML). Chains of bones were used to represent the robot.

Keywords: Mobile robot, Robot Kinematics, Robot Navigation, MATLAB.

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1083685

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1554

References:


[1] Bischoff, R, Design Concept and Realization of the Humanoid Service Robot HERMES, http://robotik.w3.rz.unibwmuenchen.de/PDF/DeCoRo.pdf
[2] Craig, J. J., Introduction to Robotics: Mechanics and Control, 2nd ed., Addison-Wesley, Reading, MA 1989.
[3] Fukaya, N., Toyama, S., Asfour, T., Dillmann, R., Design of the TUAT/ Karlsruhe Humanoid Hand. http://www.sfb588.unikarlsruhe.de/publikationen/2000_16.pdf
[4] Graf, B., Helms, E., Lakshmana, V., Rohrmoser, B., Anthropomorphic Robot Assistants - Giving the Human a Helping Hand. http://www.morpha.de/download/publications/IPA_AnthropomorphicRo botAssistants_IEEE_RAS2002.pdf.
[5] Nortman, S., Peach, J., Nechyba, M., Brown, L. S., Arroyo, A., Construction and Kinematic Analysis of an Anthropomorphic Mobile Robot. http://www.mil.ufl.edu/publications/fcrar01/SDN_fcrar011.pdf
[6] B.Markiewicz, "Analysis of the Computed Torque Drive Method and Comparison with Conventional Position Servo for a Computer- Controlled Manipulaors," Jet Propulsion Laboratory Technical Memo 33-601, March1973.
[7] J. La Salle and S. Lefschetz, Sability by Liapunov-s Direct Method with Applications, Academic Press, NewYork, 1961.
[8] P.K.Khosla, "Some Experiemntal Results on Model-Based Control Schemes, "IEEE Conference on Robotics and Automation, Philadelphia, April 1988.
[9] B. Armstrong, O. Khatib, and J. Burdick, "The Explicit Dynamic Model and Inertial Parameters of the PUMA560 arm," IEEE Conference on Robotics and Automation, Sanfrancisco, April 1086.