Kinematic analysis of a dual-arm humanoid cooking robot

Author

Zhai, Jiaxin ; Yan, Weixin ; Fu, Zhuang ; Zhao, Yanzheng

Author_Institution

State Key Lab. of Mech. Syst. & Vibration, Shanghai, China

fYear

2012

fDate

5-8 Aug. 2012

Firstpage

249

Lastpage

254

Abstract

The dual-arm humanoid cooking robot is able to cook dishes like a master chef in ordinary home kitchens. The kinematic analysis is carried out for the arm of the robot. Coordinate frames are assigned to each link of the arm using the Denavit-Hartenberg convention. The working space of the arm is calculated. The kinematic equations are obtained by calculating the homogeneous transformation matrix. The inverse kinematic solution is obtained and verified by simulation. The Jacobian of the arm is obtained by the vector product method.

Keywords

Jacobian matrices; dexterous manipulators; humanoid robots; robot kinematics; service robots; Denavit-Hartenberg convention; Jacobian matrices; arm link coordinate frames; arm working space; dual-arm humanoid cooking robots; home kitchens; homogeneous transformation matrix; inverse kinematic solution; kinematic analysis; master chef; vector product method; Jacobian matrices; Joints; Kinematics; Manipulators; Robot kinematics; Service robots; Cooking robot; Dual-arm; Jacobian; Kinematic;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2012 International Conference on

Conference_Location

Chengdu

Print_ISBN

978-1-4673-1275-2

Type

conf

DOI

10.1109/ICMA.2012.6282850

Filename

6282850