Dynamic analysis of a dual-arm humanoid cooking robot

The dual-arm humanoid cooking robot is able to cook dishes like a master chef in ordinary home kitchens. The kinematic analysis is first carried out for the 6DOF arm of the robot. Coordinate frames are assigned to each link of the arm using the Denavit-Hartenberg convention. The dynamic equations are then obtained using the Lagrangian method by calculating kinetic energy and potential energy. A simulation for a Chinese cooking movement is then carried out, joint torques for each joint of the robot´s arm during this movement are obtained.