Title :
Kinematics computation method study for a humanoid upper body system
Author :
Qingxuan Jia ; Peichang Ye ; Gang Chen ; Hanxu Sun ; Junjie Peng
Author_Institution :
Sch. of Autom., Beijing Univ. of Posts & Telecommun., Beijing, China
Abstract :
Based on the screw product exponentials formula and space Jacobi matrix, a general iterative algorithm on inverse kinematics is proposed for humanoid upper body system. First the screw coordinate is built for the system and forward kinematics equation is established. Then the inverse kinematics problem of the system is solved based on the Newton-Raphson iterative method. The results of numerical simulations verify the correctness and effectiveness of the proposed algorithm.
Keywords :
Jacobian matrices; Newton-Raphson method; fasteners; humanoid robots; inverse problems; robot kinematics; Newton-Raphson iterative method; forward kinematic equation; humanoid upper body system; inverse kinematic problem; kinematic computation method; numerical simulations; screw coordinate; screw product exponential formula; space Jacobi matrix; Fasteners; Jacobian matrices; Joints; Kinematics; Manipulators; Robot kinematics; humanoid manipulator system; iterative algorithm; kinematics; screw theory;
Conference_Titel :
Industrial Electronics and Applications (ICIEA), 2014 IEEE 9th Conference on
Conference_Location :
Hangzhou
Print_ISBN :
978-1-4799-4316-6
DOI :
10.1109/ICIEA.2014.6931526
