Handling Motion Simulation for Multi-joint Stance Robot Based on Repeatedly Direct Kinematics Algorithm

Taking a five-joint stance robot as research subject,a motion generation method based on repeatedly direct kinematics(RDK)algorithm is proposed for multi-joint robots.The handhng motion in daily life is investigated to simulate its handling motion process.Then the desired handling trajectory with which the robot doesn't turn over and all joints suffer the smallest load torque is generated.Finally,the stability of multi-joint stance robot in handling motion is discussed.