ZHAO Dong-bin, YI Jian-qiang, ZHANG Wen-zeng, CHEN Qiang, DU Dong. ARMS KINEMATICS ON A HUMANOID ROBOT TH-1[J]. ROBOT, 2002, 24(6): 502-507.
Citation: ZHAO Dong-bin, YI Jian-qiang, ZHANG Wen-zeng, CHEN Qiang, DU Dong. ARMS KINEMATICS ON A HUMANOID ROBOT TH-1[J]. ROBOT, 2002, 24(6): 502-507.

ARMS KINEMATICS ON A HUMANOID ROBOT TH-1

  • The main characteristics of humanoid robot arms is their motion capability, such as shaking hands, assisting balance while walking, etc.-This paper presents kinematics for the double arms of a self-developed humanoid robot TH-1, featured roll-bend mechanical structure, to provide the mathematic control formulas.Coordination transform, triangle transform, etc are proposed to successfully derive the inverse kinematics analytic equations for the humanoid robot TH-1 arms.-A simulation software is also established to verify the feasibility on both the direct and inverse kinematics.
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