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Resonance Suppression Strategy for humanoid robot arm

Journal of Beijing Institute of Technology 2020年第4期29卷 456-465页

作者： Weiling Zhang Qinjun Du Zhengyang Zhao Chuanming Song Wei Ding Yonggang Luo School of Electrical and Electronic Engineering Shandong University of TechnologyZibo 255049ShandongChina

To address the problem of resonance in the control of a robot arm,a resonance suppression strategy is proposed for a single-joint humanoid robot arm based on the proportionalresonant(PR)***,an arm joint model of the humanoid robot is *** the influence of resonance frequency on the performance of the control system with the robot arm is *** voltage fluctuation of the drive motor caused by the changes in arm motion is recognized as the disturbance of the current *** PR controller has the characteristic of disturbance rejection at a specific *** output fluctuation of the driving system caused by the change of arm motion state at the resonance frequency is *** the output current of the inverter will not be affected by the vibration of the arm at the resonance ***,the control system is verified by MATLAB/Simulink *** simulation results demonstrate that the control strategy for the humanoid robot arm based on the PR controller can suppress the resonance of the arm effectively,improving the dynamic performance and system stability.

关键词： humanoid robot arm resonance proportional-resonant(PR)controller disturbance rejection

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Study on the humanoid robot arm Actuated by Pneumatic Muscle

Study on the Humanoid Robot Arm Actuated by Pneumatic Muscle

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第五届流体传动与控制国际会议

作者： Wang Yifeng~* Peng Guangzheng Yang Yugui Department of Automatic Control School of Information Science and Technology Beijing Institute of Technology Beijing 100081 China

＜正＞Pneumatic Muscle Actuator（PMA）is a novel pneumatic flexible actuator with high power-weight ratio,compliance nature and easy operation,and is widely used as the actuator of robots. In this paper,pneumatic muscle actuators are applied to a 7 degree of freedom（DOF）humanoid robot *** humanoid robot arm consists of the muscle assembly of the shoulder joint,elbow joint and wrist *** arm is divided into upper arm and *** the muscles for the elbow joint and wrist joint are placed on the upper *** it can easily form a whole humanoid arm by combining with human-like dexterous *** the kinematics analysis of the mechanism model of the humanoid robot arm is *** dealing with the complexity in gaining inverse kinematics solution of 7-DOF manipulator,a new approach based on genetic algorithm（GA）and BP neural network is proposed. Simulation shows that the method proposed in the paper is practicable,provides a complete new approach for inverse kinematics solution of manipulator of any redundancy.

关键词： Pneumatic Muscle Actuator humanoid robot arm Kinematics Redundancy

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