DESIGN AND ROBUST CONTROL OF A 5 DOF BIPEDAL ROBOT
Publish place: 13th Annual Conference of Mechanical Engineering
Publish Year: 1384
نوع سند: مقاله کنفرانسی
زبان: English
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شناسه ملی سند علمی:
ISME13_609
تاریخ نمایه سازی: 21 اسفند 1385
Abstract:
The main goal of this paper is to study the efficiency of robust control for the movement of a biped robot in walking on both the horizontal plane and a flight of stairs. A model with 5 DOF has been selected in a way that one link stands for the body where it is attached to the thighs, two links for the thighs and two links for the legs. Firstly, the dynamic model is discussed and its related equations are obtained applying the Lagrangian equations. Then, the trajectories of the joints are discussed for the robot motion on both horizontal plane and climbing up the stairs - while the height and the length of the stairs are known during the movement. In the next step the robust and the computed torque methods are applied for controlling the system. Finally, the dynamic and the control model of the system are simulated using appropriate softwares.
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Authors
Bagheri
Assistant Professor, Mechanical Engineering Department, Guilan University
Yousefi moghaddam
M.Sc. Student, Mechanical Engineering Department, Guilan University
Kanani
M.Sc. Student, Mechanical Engineering Department, Amirkabir University of technology
Jamshidi
M.Sc. Student, Mechanical Engineering Department, Tarbiat Modarres University
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