Adaptive Controller Algorithm for 2-DOF Humanoid Robot Arm

摘要: Abstract A computational model of human motor control for a nonlinear 2 degrees-of-freedom (DOF) robot arm to mimic humanlike behavior is developed and presented in this paper. The based on simple mathematical 2-segment compound pendulum which mimics the upper forearm. Using Lagrangian Euler-Lagrange equations, 2-DOF dynamic equations were successfully derived solved using Euler's method. Two types controllers; feedback Proportional-Derivative (PD) controller feedforward controller, combined into model. algorithm exhibited learning necessary torque required performing desired Position Control via Specific Trajectory (PCST) rehabilitative task it as subsequent trial motions. After 30 trials, mean absolute error with respect motion arm, showed decrease from 0.09533 0.005859, forearm 0.3526 0.006138. This decrement trend errorwith increase number trials consistent adaptive strategy known Feedback Error Learning (FEL) strategy.