Kinematic Modeling and Simulation of Dual-Arm Robot

In recent years, dual-arm robots have attracted more and more attention due to their advantages such as strong cooperation ability and high flexibility. With the improvement of real-time requirement of dual-arm cooperation, the inverse kinematics solution of robot becomes a key problem to be solved...

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Bibliographic Details
Main Authors: Jiwu Wang, Junxiang Xu
Format: Article
Language:English
Published: Atlantis Press 2021-06-01
Series:Journal of Robotics, Networking and Artificial Life (JRNAL)
Subjects:
Online Access:https://www.atlantis-press.com/article/125957510/view
Description
Summary:In recent years, dual-arm robots have attracted more and more attention due to their advantages such as strong cooperation ability and high flexibility. With the improvement of real-time requirement of dual-arm cooperation, the inverse kinematics solution of robot becomes a key problem to be solved urgently. To solve the time-consuming problem of inverse kinematics of robot arm, a closed inverse kinematics solution algorithm for humanoid dual-arm robot was proposed. The effectiveness of the algorithm was verified by simulation.
ISSN:2352-6386