Designing Simulation Model of Humanoid Robot to Study Servo Control System

摘要

In the paper, we consider a method of developing a simulation model of a humanoid robot preserving its size and mass-inertial characteristics. We describe a developed model of the servomotor and a method of tuning its PID controller as well as a method of robot interaction with the surface based on the PD controller. With the help of a special method of tuning the PID controller in Simulink program, controls coefficients for the servomotor models were selected. The experimental results have shown that the servomotors can reach a predetermined angle of rotation and maintain this position with sufficient accuracy. We have conducted a simulation of the interaction of the humanoid robot with the floor surface. With Simulink software blocks, we have made a switch that activates support reaction force at the transition of the robot foot coordinates along a vertical axis to a negative value, which provides an adequate interaction of the model of the robot with the floor model.