Dynamics Modeling and Control of Humanoid Robot Arm with 7DOF Actuated by Pneumatic Artificial Muscles

The robotic arm driven by pneumatic artificial muscle has a configuration similar to that of a human arm, and has essential compliant characteristics, which has important research significance for the development of Tri-Co (coexistence-collaboration-cognitive) robots. In order to realize the real-time motion control of the humanoid robotic arm, it is necessary to model the kinematics and dynamics of the robotic arm. In this paper, the Modified Denavit-Hartenberg (MDH) method is used to model the forward kinematics of the humanoid robotic arm, and the Newton-Euler Dynamics method is used to model the dynamics of the humanoid robotic arm. Research shows that the trajectory of the human arm in free space satisfies the Logistic function, and the Logistic function is used as the curve of each joint of the humanoid robotic arm. According to the established model, the computed torque control scheme is used to realize the control of the humanoid robotic arm. Simulation experiments show that each joint of the humanoid robotic arm can accurately track the desired joint angle curve.