Simulations of the dynamic behavior of the robot adam with trunk and arms subjected to 3d external disturbances

Abstract

This paper deals with an analytical approach based on the inverse dynamic model to maintain the stability of the ADAM robot in the presence of external disturbances. The stabilization is carried out with a trunk having 7 degrees of freedom. For a vertical posture of the robot, the arms of ADAM are used to compensate the external three-dimensional efforts applied to the robot. This study presents the simulation results of the dynamic behavior of the robot in the presence of external disturbances. During the simulation, this study enabled us to determine on-line the required movements and accelerations of the arms parts necessary to maintain the stability of the robot.