标题：Humanoid robot arm kinematics modeling and motion planning
作者：Du, Qin Jun ;Zhang, Xue Yi ;Zhai, Shi Long
通讯作者：Du, Qin Jun
作者机构：[Du, Qin Jun ;Zhai, Shi Long ] School of Electrical and Electronic Engineering, Shandong University of Technology, Zibo city; Shandong Province, China 更多
会议名称：International Conference on Machine Tool Technology and Mechatronics Engineering, ICMTTME 2014
会议日期：June 22, 2014 - June 23, 2014
来源：Applied Mechanics and Materials
摘要：This paper establishes the kinematics model of humanoid robot arm, the arm forward kinematics equations were built and solved, based on the advantages of CCD (Cyclic Coordinate Descent) and BFS (Broyden-Fletcher-Shanno) algorithm to solve the inverse kinematics of humanoid robot arm. In the joint space, using cubic polynomial and quintic polynomial interpolation method respectively for each joint angle interpolation. Cubic polynomial trajectory planning can meet the point-to-point movement in general, but can not guarantee the continuity of acceleration of each point; Quintic polynomial trajectory planning can ensure that each point is continuous of the joint angle, angular velocity, and angular acceleration, so this polynomial method can meet the movement of the humanoid robot arm. © (2014) Trans Tech Publications, Switzerland.