Kinematics and Control for a Personal Robot with Five Degrees-of-freedom Arms

The paper describes the kinematics and control of a robot with two arms that have five degrees of freedom and presents a method how to give a position and orientation of hand for inverse position analysis. Using the method presented in the paper, the parameters of inverse position analysis can easily be specified provided the position and orientation given is within the workspace of the arm. To control the robot, a servo system is presented. The control principle and the software architecture of the servo system are described. Finally, a calculation example of inverse position analysis is given.