Vibration analysis and motion control of stand-up robot consisting of body link, arm link and leg link

摘要

In this study, first, the forced vibration response of a three-link stand-up robot is investigated theoretically. The stand-up robot consists of an arm link, a body link and a leg link. Considering the vibration analysis results, the trajectory planning algorithm for the stand-up motion control by using a touch sensor attached to the body link is devised. In the stand-up motion control, initially, the vibrational swing motion control of the arm link starts. Then, immediately after the time when the touch sensor signal is on for the first time, the swing motion control of the leg link starts, and after a brief interval, the vibrational swing motion control of the arm link finishes. Furthermore, the stand-up motion control system consisting of the trajectory planning and the joint angle tracking controller is constructed. Moreover, the experiments of the stand-up motion control have been carried out, and it is confirmed that the stand-up motion control could be well executed.