The Study On Robot Modeling And Control Based On NAO Robot

The humanoid robot is the study of human intelligence platform, it’s a comprehensive mechanical, electronic, computer, sensors, control technology, artificial intelligence, bionics and other disciplines of complex intelligent machinery, and it become one of the hot research topics in the field of robot. With the development of robot technology, the humanoid robot plays an important role in our daily life. So, whether in theory or in the service industry, it is important to research intelligence control of robot.The thesis is based on the NAO robot arm as the carrier to research its kinematics, inverse kinematics and dynamics, trajectory planning. Besides, we have designed fuzzy PD controller algorithms to control its arm and compared the PDcontroller and fuzzy PDcontroller. In this paper, the research main content is as follows:First, the kinematics model is analytical based on classic methods like D-H convention and we study its manipulator trajectory planning and work space research. This section is given the trajectory change process of end-effector, joint angle, velocity and acceleration in the process of the trajectory change process and working space of the robot arm. We use Robotic Toolbox to make sure the process of correctness. And we have done the experiment of grab objects with robot’s arm based on kinematics module.Second, the dynamics module is analytical based on euler-Lagrange. The fuzzy PD trajectory tracking controller is based on dynamics model of NAO robot arm. Under the condition of no interference and interference, the PD controller and fuzzy PD controller is used in the comparison. The result of simulation shows that fuzzy PD controller has good control effect and robustness.Therefore, the kinematics and dynamics model is established by the control probolm of NAO robot arm and build the dynamic model based on fuzzy PD control method. The experiments show that the designed control method has good tracking performance and robustness. It can solve the problem of controlling the NAO robot effectively.