EXPERIMENTAL AND THEORETICAL OPTIMAL REGULATOR CONTROL OF BALANCE ZERO MOMENT POINT FOR BIPEDAL ROBOT
| Autor: | Ali Fawzi Abdul Kareem, Ahmed Abdul Hussein Ali |
|---|---|
| Rok vydání: | 2022 |
| Předmět: |
Balance (metaphysics)
experimental optimal balance optimal zero moment point theoretical zero moment point Control (management) Regulator theoretical optimal control experimental zero moment point lcsh:TA1-2040 Control theory Robot lcsh:Engineering (General). Civil engineering (General) Mathematics Zero moment point |
| Zdroj: | Journal of Engineering and Sustainable Development, Vol 24, Iss 06, Pp 68-82 (2020) |
| ISSN: | 2520-0925 2520-0917 |
| DOI: | 10.31272/jeasd.24.6.6 |
| Popis: | In this paper, the optimal control is analyzed to compare the results of the zero moment point of a bipedal walking robot. Seventeen degrees of freedom bipedal walking robot is manufactured of hard Aluminum sheets. The zero moment point is calculated experimentally and theoretically in the single support phase. MATLAB Simulink is used to simulate the results. The experimental results showed that the lower link takes the settling time is (1) sec, the middle link takes settling time (0.9) sec and the upper link takes (1.1) sec to arrive the desired zero moment point for the bipedal walking robot. The minimum performance index in the experimental parts occurs when the optimal feedback control gain is [35.5 30.4 5 -4]. Hence, the minimum performance index in the theoretical part is [35 31 5.2 -4]. The dimensions of the foot area are (12.3cm×6.3cm), 2.3cm thickness, and 32g weight. Also, the approximate balance area in the double support phase equals the area between the feet of the robot. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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