Modelling and adaptive control of NAO robot arm

摘要

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.