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Towards Dynamic Task/Posture Control of a 4DOF Humanoid Robotic Arm

Omar T. Abdelaziz, Shady A. Maged, Mohammed I. Awad
Mechatronics Engineering Department, Faculty of Engineering, Ain Shams University, Cairo, Egypt

Abstract—A comparison between two control schemes of a humanoid robot arm is considered, facilitating the development of humanoids that have human-like movements and safe to operate in the vicinity of humans. This paper describes modeling and simulation of a 4 degree of freedom (DOF) INMOOV humanoid robotic arm using MATLAB/Simmechanics toolbox. The proportional derivative (PD) control and sliding mode control (SMC) based on the operational space formulation of task/posture control is considered. The comparison between the two controller approaches in respect to accuracy, natural movement and time response is also presented, showing the effectiveness of the SMC over the PD controller. 

Index Terms—humanoid robot, sliding mode control, proportional derivative control, biologically inspired arm control

Cite: Omar T. Abdelaziz, Shady A. Maged, Mohammed I. Awad, "Towards Dynamic Task/Posture Control of a 4DOF Humanoid Robotic Arm" International Journal of Mechanical Engineering and Robotics Research, Vol. 9, No. 1, pp. 99-105, January 2020. DOI: 10.18178/ijmerr.9.1.99-105

Copyright © 2020 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.

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