| Title: | OS17-1 Kinematic modeling and Simulation of humanoid dual-arm robot |
|---|---|
| Publication: | ICAROB2021 |
| Volume: | 26 |
| Pages: | 381-384 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2021.OS17-1 |
| Author(s): | Jiwu Wang, Junxiang Xu |
| Publication Date: | January 21, 2021 |
| Keywords: | dual-arm robots, real-time, inverse kinematics；simulation |
| Abstract: | In recent years, dual-arm robots have attracted more and more attention due to their advantages such as strong cooperation ability and high flexibility. With the improvement of real-time requirement of dual-arm cooperation, the inverse kinematics solution of robot becomes a key problem to be solved urgently. In order to solve the timeconsuming problem of inverse kinematics of robot arm, a closed inverse kinematics solution algorithm for humanoid dual-arm robot was proposed. The effectiveness of the algorithm was verified by simulation. |
| PDF File: | https://alife-robotics.co.jp/members2021/icarob/data/html/data/OS/OS17/OS17-1.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/ |
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