Algorithm and implementation of joint trajectory planning for virtual robot´s legs

Author

Guanglong Wang ; Yu Dong ; Tao Lai ; Wenjie Zhu ; Jianhui Chen ; Zhongtao Qiao ; Fengqi Gao

Author_Institution

Nanotechnol. & Microsyst. Lab., Mech. Eng. Coll., Shijiazhuang, China

fYear

2013

fDate

26-28 Aug. 2013

Firstpage

1070

Lastpage

1075

Abstract

A complete planning mechanism was established to improve efficiency of trajectory planning of biped robot. The kinematic model of robot´s legs was built by D-H method. Trajectory planning for robot´s legs was finished based on complete kinematic model of the biped robot. The stability of the robot was improved by adding multiple geometrical constraints. Rotation angles of each joint were obtained by solving equation sets based on the planned trajectory equations. The 3D model of biped robot was built by the software of 3DS MAX. The servo interface between servo drivers and the virtual motion control software was created which was programmed by software of Visual Studio. Experiment results indicate that the mechanism can promote working efficiency greatly as well as having good control performance.

Keywords

control engineering computing; legged locomotion; motion control; path planning; servomechanisms; solid modelling; stability; trajectory control; virtual reality; 3D model; 3DS MAX; D-H method; Visual Studio; biped robot; joint trajectory planning; servo drivers; stability; virtual motion control; virtual robot legs; Joints; Legged locomotion; Planning; Robot kinematics; Servomotors; Trajectory; Kinematic model; Trajectory planning; Virtual motion control; Zero moment point;

fLanguage

English

Publisher

ieee

Conference_Titel

Information and Automation (ICIA), 2013 IEEE International Conference on

Conference_Location

Yinchuan

Type

conf

DOI

10.1109/ICInfA.2013.6720454

Filename

6720454