Dynamics and control study of a stair-climbing walking aid robot

Author

Xiu, Liu Juan ; Wei, Chen Qing

Author_Institution

Sch. of Autom., Nanjing Univ. of Sci. & Technol., Nanjing, China

fYear

2010

fDate

26-28 June 2010

Firstpage

6190

Lastpage

6194

Abstract

This paper designs a multifunctional robot for stair climbing by the link mechanism and stair climbing mechanism. A virtual prototype has been developed in adams. By means of Roberson-Wittenburg method dynamic model has been established. Based on the dynamic model, the synchronization controller is designed, and the controller is proven to be asymptotic stability by Lyapunov function. The system parameters have been designed for the co-simulation in matlab and adams. The synchronization controller has been used in trajectory tracking simulation of virtual prototype. Result shows the effectiveness of the method.

Keywords

Lyapunov methods; asymptotic stability; control engineering computing; legged locomotion; position control; synchronisation; virtual prototyping; Adams; Lyapunov function; Matlab; Roberson-Wittenburg method; asymptotic stability; multifunctional robot; stair climbing walking aid robot; synchronization controller; trajectory tracking simulation; virtual prototype; Computational geometry; Electrochemical machining; Iterative methods; Legged locomotion; Ligaments; Physics computing; Plastics; Safety; Solid modeling; Stress; Dynamic model; Synchronization control; co-simulation; stair climbing; walking aid robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechanic Automation and Control Engineering (MACE), 2010 International Conference on

Conference_Location

Wuhan

Print_ISBN

978-1-4244-7737-1

Type

conf

DOI

10.1109/MACE.2010.5536319

Filename

5536319