Title :
Research on the Kinematics and Dynamics of a 7-DOF Arm of Humanoid Robot
Author :
Zhao, Tie-jun ; Yuan, Jing ; Zhao, Ming-yang ; Tan, Da-long
Author_Institution :
Shenyang Univ. of Technol., Shenyang
Abstract :
We have developed a highly flexible anthropomorphic 7-DOF robotic arm for a mobile humanoid robot. The kinematics of the arm such as workspace, singularity, the number and physical nature of self-motion are presented. The concepts and methodology of the inverse kinematics base on the self-motion of the arm are described. By this method the task and motion scheduling can simply be done. The formulations of dynamics and the dynamic effect due to the arm´s dead weight were analyzed.
Keywords :
humanoid robots; mobile robots; motion control; robot dynamics; robot kinematics; anthropomorphic 7-DOF robotic arm; mobile humanoid robot; motion scheduling; robot dynamics; robot kinematics; task scheduling; Anthropomorphism; Arm; Elbow; Humanoid robots; Humans; Intelligent robots; Kinematics; Manipulators; Mobile robots; Shoulder; Arm; Dynamics; Humanoid Robot; Kinematics;
Conference_Titel :
Robotics and Biomimetics, 2006. ROBIO '06. IEEE International Conference on
Conference_Location :
Kunming
Print_ISBN :
1-4244-0570-X
Electronic_ISBN :
1-4244-0571-8
DOI :
10.1109/ROBIO.2006.340175
