Research on Improved Method in Kinematics for Humanoid Robot

被引：0

作者：

Han, QingYao ^{[1
]}

Di, JianHao ^{[1
]}

Zhu, XiaoGuang ^{[1
]}

机构：

[1] N China Elect Power Univ, Dept Mech Engn, Baoding 071003, Hebei Province, Peoples R China

来源：

ADVANCES IN ELECTRICAL ENGINEERING AND AUTOMATION | 2012年 / 139卷

关键词：

Humanoid Robot; Forward Kinematics; Inverse Kinematics;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Because the kinematic equations are nonlinear, their solution is not always easy or even possible in a closed form. Also, problems about the existence of a solution and about multiple solutions arise. Based on specific structural features of humanoid robot, this paper improves the formula of inverse kinematics of the robot leg. The solution needs only once multiplication by the inverse matrix. Compared with the general numerical solutions, the solution greatly reduces the number of matrix inversion operation and the number of the excess solutions. And this method is a simple and effective, convenient and quick calculation.

引用

页码：467 / 472

页数：6