Dynamics model and adaptive backstepping control on the 7-DOF manipulators of a humanoid robot

Abstract

This paper the adaptive backstepping control algorithm (ABCA) is proposed for dual-arm cooperative manipulators to achieve a precise trajectory tracking in the task space. Firstly the Lagrange function is employed to construct the dynamic mode of the upper part of the humanoid, the modified dynamic mode is obtained through decoupling the each joint. Secondly the modified dynamic is lower computation burden and extends the application the dual-arm manipulators. Moreover the backstepping control algorithm is designed to implement the dual-arm cooperative control. Finally the effectiveness of the proposed control approach and theoretical discussion are proved by the experiences compared with the robust control method (RCM), which show the proposed algorithm could asymptotically converge to zero to show the validity of the simulation results.