Simulation Research on Kinematics of Humanoid Robot Based on ADAMS
|School||North China Electric Power University|
|Course||Mechanical and Electronic Engineering|
|Keywords||humanoid robot kinematics dynamics gate planning kinematicssimulation|
With the development of science, the area of robotics application is constantly expanding, and promoting the rapid development of robotics. Kinematics and dynamics for humanoid robot is the basic research and also one of the best important problems in the area of humanoid robot. In this paper, all study was based on the Bioloid comprehensive kit. The equations of forward kinematics and inverse kinematics had been deduced on the base of the Bioloid, and the three-step program of humanoid robot gate planning had been used to design the gate planning, which includes:Firstly, using the Denavit-Hartenberg rules established the kinematic model, and derived the description about the joint between adjacent connecting links that was matrixes expression of robot leg’s kinematics, then the matrixes continually multiply was being used to solve the equations of forward kinematics; a new more efficient improved algorithm is proposed, this solution has the solution high precision, high efficiency, less redundancy solution features.Secondly, dynamic analysis of the robot, deduce the movement relationship that between the speeds, accelerations and torques of the joints, then establish the dynamic equations.Thirdly, use the Zero Moment Point (ZMP) as a criterion to verify the stability of robot walking. According to the study on the humans’gait, using three-step planning method for biped robot gait planning. Based on the constraint and the programmed tracks, the kinematics equations of each walking stages are available. Through the polynomial interpolation method to solve the trajectories of the swinging leg ankle and hip, and then apply the robot inverse kinematics to get the motion trajectories of the joint’s vector, and deduce the actual trajectory of the ZMP to compare the theoretical trajectory of the ZMP. Finally a more perfect gait planning can be achieved.Fourthly, a simplified model of the robot’s lower-limbs is established in ADAMS. And then the motion curves of joints are imported into the simulation software ADAMS for joints control. The joint simulation experiments can give the dynamic pictures and relevant experimental data, which can verify the feasibility of the walking gait planning.