GS8-1 Development of arm trajectory planning of Seamless Robot

Title:	GS8-1 Development of arm trajectory planning of Seamless Robot
Publication:	ICAROB2017
Volume:	22
Pages:	372-375
ISSN:	2188-7829
DOI:	10.5954/ICAROB.2017.GS8-1
Author(s):	Teedanai Pramanpol, Jiraphan Inthiam, Eiji Hayashi
Publication Date:	January 19, 2017
Keywords:	Trajectory planning, Inverse kinematics, Levenberg-Marquardt Algorithms, Robot manipulator
Abstract:	This paper presents arm trajectory planning of Seamless Robot. The Seamless Robot is a Human Support Robot (HSR) which is the ongoing developed project at Hayashi Laboratory, this robot is consist of three main parts base, body and arms, this paper will focus on controlling left arm movement. The arm has been designed with four degrees of freedom joints limit are set to values close to a human arm. In order to solve for each joint angle the Levenberg Marquardt algorithm (LMA) is used for solving the inverse kinematic problem for calculating point to create a trajectory planning of robot`s arms. The result of trajectory planning has been proven in simulation.
PDF File:	https://alife-robotics.co.jp/members2017/icarob/data/html/data/GS_pdf/GS8/GS8-1.pdf
Copyright:	© The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/