Dynamics modeling and fuzzy PD control of humanoid arm

摘要

Dynamics model is the basis of controller design for a robot. This paper presents dynamics modeling method for the arm of humanoid robot Nao. The dynamics model is analyzed based on Euler-Lagrange equations. Firstly, this paper analyzes the upper limb topology of Nao model and establishes the dynamics models. Secondly, Fuzzy-PD controller is used in the dynamics model and compared with traditional PD controller. Finally, the proposed solution is tested in Matlab environment to demonstrate the correctness of the robot dynamics model.