Geometrical analysis of inverse kinematics solutions and fuzzy control of humanoid robot arm under kinematics constraints

被引：4

作者：

Song, Deok Hui ^{[1
]}

Jung, Seul ^{[1
]}

机构：

[1] Chungnam Natl Univ, Intelligent Syst & Emot Engn Lab, Mechatron Grp BK21, Taejon 305764, South Korea

来源：

2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS | 2007年

关键词：

humanoid robot arm; inverse kinematics; kinematics constraints;

D O I：

10.1109/ICMA.2007.4303715

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents inverse kinematics analysis of a humanoid robot arm under geometric constraints. Given Cartesian position variables without orientation information, all joint values of the humanoid robot arm can be obtained analytically. This method is specially useful for joint control of the human like robot arm structure. Simulation studies are performed to verify the kinematics analysis. The Cartesian trajectory tracking task of the robot arm using a fuzzy controller is conducted to confirm the proposed analysis.

引用

页码：1178 / 1183

页数：6

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