Title :
Design of a redundant arm for yiren humanoid robot
Author_Institution :
Shenyang Univ. of Technol., Shenyang, China
Abstract :
We have developed a highly flexible anthropomorphic 7-DOF robotic arm for a mobile humanoid robot. This paper presents the kinematics of the arm such as workspace, singularity, the number and physical nature of self-motion. 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 :
mobile robots; redundant manipulators; Yiren humanoid robot; flexible anthropomorphic 7-DOF robotic arm; kinematics; mobile humanoid robot; motion scheduling; redundant arm; Elbow; Humanoid robots; Joints; Kinematics; Manipulators; Wrist;
Conference_Titel :
Intelligent Control and Information Processing (ICICIP), 2010 International Conference on
Conference_Location :
Dalian
Print_ISBN :
978-1-4244-7047-1
DOI :
10.1109/ICICIP.2010.5564215