Motion planning of high redundant humanoid dual-arm mobile robot

被引：0
|
作者：
Wang H. [1 ,2 ]
Li R. [1 ]
Ge L. [1 ]
Cao C. [3 ,4 ]
机构：
[1] State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin
[2] School of Mechanical & Electrical Engineering, Nanchang Institute of Technology, Nanchang
[3] School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing
[4] HIT Wuhu Robot Technology Research Institute of Harbin Institute of Technology, Wuhu, 241007, Anhui
来源：
Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) | 2018年 / 46卷 / 08期
关键词：
Control algorithm; High redundant humanoid dual-arm mobile robot; Mobile operation; Motion plan; Whole resolved motion rate control algorithm;
D O I：
10.13245/j.hust.180803
中图分类号：
学科分类号：
摘要：
A high redundant humanoid dual-arm mobile robot was built through the differential driver platform and the fixed dual-arm robot.Then,according to the characteristics of the high redundancy,the whole Resolved Motion Rate Control Algorithm (wRMRC) was offered for the motion planning.The end-effect or movements of the humanoid dual arms can be decomposed into the movements of the two driving wheels of the differential driving platform and the movements of the humanoid dual-arm each joint of this robot harmoniously.Through the comparison of the simulation results,the humanoid dual-arm mobile robot has more redun- dancy,better smoothness,more flexibility,larger operational space,and more harmonious cooperation between the humanoiddual- arms and the differential driving platform during the entire mobile operational process.The effectiveness of the algorithm in the high-redundant robot system has been verified. © 2018, Editorial Board of Journal of Huazhong University of Science and Technology. All right reserved.
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页码：12 / 17
页数：5
相关论文
共 3 条
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