Workspace Analysis of 7-DOF Humanoid Robotic Arm
Authors
Jinliang Luo, Qun Wen, Jialai He, Bin Ye
Corresponding Author
Jinliang Luo
Available Online April 2015.
- DOI
- 10.2991/isrme-15.2015.315How to use a DOI?
- Keywords
- Monte Carlo method; 7-DOF; Workspace; Humanoid robotic arm.
- Abstract
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.
- Copyright
- © 2015, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Jinliang Luo AU - Qun Wen AU - Jialai He AU - Bin Ye PY - 2015/04 DA - 2015/04 TI - Workspace Analysis of 7-DOF Humanoid Robotic Arm BT - Proceedings of the 2015 International Conference on Intelligent Systems Research and Mechatronics Engineering PB - Atlantis Press SP - 1560 EP - 1563 SN - 1951-6851 UR - https://doi.org/10.2991/isrme-15.2015.315 DO - 10.2991/isrme-15.2015.315 ID - Luo2015/04 ER -