Title: Modelling and adaptive control of NAO robot arm

Authors: Jun Yu; Shuhui Bi; Shengjun Wen

Addresses: Zhongyuan-Petersburg Aviation College, Zhongyuan University of Technology, No. 41 Zhongyuan Road, Zhengzhou, Henan Province, 450007, China ' School of Control Science and Engineering, University of Jinan, No. 336 Nanxinzhuang West Road, Jinan, Shandong Province, 250022, China ' Zhongyuan-Peterburg Aviation College, Zhongyuan University of Technology, No. 41 Zhongyuan Road, Zhengzhou, Henan Province, 450007, China

Abstract: Aiming at the grasp problem of the robot manipulator, the left arm of NAO robot is considered as to deal with that, and its modelling and control are presented in this paper. After the structure of the left arm of the NAO robot is analysed to obtain the kinematics D-H parameters, the kinematics model and the dynamic model of the robot arm are established by using the D-H kinematics modelling method. Based on the dynamic model, robust adaptive PD control is presented for the arm with or without the dynamic disturbances, which is compared with PD control. Finally, the validity of the model is verified by the model output and the measurement output. The simulation and experimental results are given to show the effectiveness of the control scheme, where better tracking performance and robustness are obtained for the adaptive PD control when there is a measurement disturbance in the motion of the robot arm.

Keywords: NAO robot; kinematics model; dynamic model; adaptive PD control.

DOI: 10.1504/IJAMECHS.2021.116488

International Journal of Advanced Mechatronic Systems, 2021 Vol.9 No.2, pp.102 - 108

Received: 11 Aug 2020
Accepted: 26 Apr 2021

Published online: 14 Jul 2021 *

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