仿人形机器人运动的自适应控制.PDF

4 3 6 V o.l 43 N o. 6 2008 12 JOU RNAL OF SOUTHW EST JIAOTONG UN IVER SITY Dec. 2008 : 025 82724 2008) 1, 2 2 3 2 邓星桥 , 王进戈, 方 纯, 朱维兵 1. , 610065; 2. , 610039; 3. , 6 100 31) : D anev itH a rtenberg, . , . . . : ; ; ; ; ; ; : TP242. 6 : A A dap tive Con trol of Hum anoid R obotM ovem en t 1, 2 2 3 2 DEN G X ing qiao , WAN G J ing e , FAN G Ch un , ZH U W eibing 1. Schoo l of M anufactur ing Science and Eng. , S ichuan U n ive rsity, Chengdu 6 10065, Ch ina; 2. Schoo l of M echanical Eng. and A utom a tion, X ihua U n iv ers ity, Chengdu 6 100 39, Ch ina; 3. Schoo l o f E lectrical Eng. , Southw est J iao tong U n iversity, Chengdu 61003 1, Ch ina) Abs tract: T he dynam ic and kinem at ic fo rm ulas w ere derived based on Danev itH artenberg coordinate transform ation, and the genera lized Jacobian m atr ix w as obta ined. A n adapt ive contro ller w as designed to ensure the asymptotic stability o f the robo t system. Smi u lated snap shots and jo int trajectories of a dancing hum anoid robot w ere presented. The smi u la tion results verif ied feasib ility and e ffect iveness of the contro ller. K ey w ords: hum ano id robot; adaptive control; jo int; movem ent; k inem atics; dynam ics; asym pto tic stability [ 1, 2] [ 3] 30 , .