Workspace Analysis of 7-DOF Humanoid Robotic Arm

被引：0
|
作者：
Luo, Jinliang [1 ]
Wen, Qun [1 ]
He, Jialai [1 ]
Ye, Bin [1 ]
机构：
[1] Univ South China, Sch Mech Engn, Hengyang 421001, Peoples R China
来源：
PROCEEDINGS OF THE 2015 INTERNATIONAL CONFERENCE ON INTELLIGENT SYSTEMS RESEARCH AND MECHATRONICS ENGINEERING | 2015年 / 121卷
关键词：
Monte Carlo method; 7-DOF; Workspace; Humanoid robotic arm;
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：
The 7-DOF humanoid robotic arm joint coordinate systems are established and link parameters are determined by D-H method, and the robotic arm kinematics model is established. The position and orientation of robotic arm end-effector is generated by homogeneous transform method. Monte Carlo method is proposed in analyzing the workspace of robotic arm and the echogram of robotic arm is calculated based on mapping relation from joint space to workspace of robotic arm. The reference basis is provided for follow-up robot trajectory planning, dynamics analysis, and motion control and parameter optimization.
引用
收藏
页码：1560 / 1563
页数：4
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