Algorithm and Implementation of Joint Trajectory Planning For Virtual Robot's Legs

被引：0

作者：

Wang, Guanglong ^{[1
]}

Dong, Yu ^{[1
,2
]}

Lai, Tao ^{[1
]}

Zhu, Wenjie ^{[1
]}

Chen, Jianhui

Qiao, Zhongtao ^{[2
]}

Gao, Fengqi

机构：

[1] Mech Engn Coll, Nanotechnol & Microsyst Lab, Shijiazhuang, Hebei Province, Peoples R China

[2] Mech Engn Coll, Fourth Dept, Shijiazhuang, Peoples R China

来源：

2013 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION (ICIA) | 2013年

基金：

中国国家自然科学基金;

关键词：

Trajectory planning; Kinematic model; Virtual motion control; Zero moment point; HUMANOID ROBOT;

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：

A complete planning mechanism was established to improve efficiency of trajectory planning of biped robot. The kinematic model of robot's legs was built by D-H method. Trajectory planning for robot's legs was finished based on complete kinematic model of the biped robot. The stability of the robot was improved by adding multiple geometrical constraints. Rotation angles of each joint were obtained by solving equation sets based on the planned trajectory equations. The 3D model of biped robot was built by the software of 3DS MAX. The servo interface between servo drivers and the virtual motion control software was created which was programmed by software of Visual Studio. Experiment results indicate that the mechanism can promote working efficiency greatly as well as having good control performance.

引用

页码：1070 / 1075

页数：6

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