Vol.11, No 2, 2012 pp. 99 - 110
UDC
004.896:61 681.532.1
ROBUSTNESS OF SEMI-HUMANOID ROBOT POSTURE WITH RESPECT TO EXTERNAL DISTURBANCES
Vesna Antoska1, Veljko Potkonjak2,
Mile J. Stankovski3, Nenad Baščarević2
1Faculty of Technology and Technical Science,
Ss. Climent Ohridski University – Bitola, Republic of Macedonia
2Faculty of Electrical Engineering, University of Belgrade, Serbia
3Faculty of Electrical Engineering and Information Technology
Ss. Cyril and Methodius University – Skopje, Macedonia
Abstract.
This paper applies sophisticated methods developed for mathematical modeling of semi humanoid robot (driven robot) to real motions, particularly in posture stabilization for different situation. A general simulation system is realized: following deductive principle, i.e. to start from a completely general model applicable to a set of tasks. Such a model is further adjusted according to need certain specific situations. Simulation is applied to a problem which is important for semi-humanoid robot, namely the stabilization of posture being subject to different disturbances. To ensure stability of the robot position, the robust control is evaluated. Simulations are carried out and the influence of different cart movements on the robot balance is analyzed by comparing different cases.
Key Words:
Semi-Humanoid Robot, Robot, Robustness, Robot Posture.
ROBUSNOST POLU-HUMANOIDNOG POLOŽAJA ROBOTA U ODNOSU NA SPOLJAŠNJE POREMEĆAJE
Ovaj rad prikazuje primenu sofisticiranih metoda razvijenih za matematičko modelovanje polu humanoidnih robota za realne pokrete, naročito u stabilizaciji držanja u različitim situacijama. Ostvaren je opšti simulacioni system: prati se deduktivni pristup, to jest, počinje se od potpuno opšteg modela primenljivog na set zadataka. Takav model se dalje usklađuje prema zahtevima određene specifične situacije. Simulacija se primenjuje na problem koji je važan za polu humanoidne robote, a to je pitanje držanja na koje utiču različiti uticaji. Da bi se osigurala stabilnost pozicije robota, procenjuje se kontrola robusnosti. Izvode se simulacije i analizira se uticaj različitih pokreta na balans robota poređenjem različitih situacija.
Ključne reči:
polu-humanoidni robot, robot, robusnost, položaj robota
