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

fYear

2014

fDate

9-11 June 2014

Firstpage

2142

Lastpage

2147

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics and Applications (ICIEA), 2014 IEEE 9th Conference on

Conference_Location

Hangzhou

Print_ISBN

978-1-4799-4316-6

Type

conf

DOI

10.1109/ICIEA.2014.6931526

Filename

6931526