Kinematics and Control System Design of Manipulators for a Humanoid Robot
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.
[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.
[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.
@article{"International Journal of Information, Control and Computer Sciences:63822", author = "S. Parasuraman", title = "Kinematics and Control System Design of Manipulators for a Humanoid Robot", 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.", volume = "2", number = "3", pages = "947-7", }