Robot system identification using 3D simulation component applied on VIPRO platform

摘要

The paper presents automated estimation techniques for robot parameters through system identification, for both PID control and future implementation of intelligent control laws, with the aim of designing the experimental model in a 3D virtual reality for testing and validating control laws in the joints of NAO humanoid robots. After identifying the maximum likelihood model, the PID amplification factors are optimized and introduced into the Unity environment as a script for controlling the joint. The program used for identifying PID parameters for the NAO robot is developed using the virtual reality platform Unity 3D and integrated into the Graphical Station component of the VIPRO Platform for the control of versatile, intelligent, portable robots. The obtained results, validated in the virtual reality environment, have led to the implementation of the PID identification and optimization component on the VIPRO Platform.