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Research on the kinematics and dynamics of a 7-DOF arm of humanoid robot
Zhao TJ(赵铁军); Yuan, Jing; Zhao MY(赵明扬); Tan DL(谈大龙)
Department机器人学研究室
Conference NameIEEE International Conference on Robotics and Biomimetics (ROBIO 2006)
Conference DateDecember 17-20, 2006
Conference PlaceKunming, China
Author of SourceIEEE, IEEE Robot & Automat Soc, Robot Soc Japan, Japanese Soc Mech Engineers, Peking Univ, Beijing Inst Technol, Yunnan Univ
Source Publication2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3
PublisherIEEE
Publication PlaceNEW YORK
2006
Pages1553-1558
Indexed ByEI ; CPCI(ISTP)
EI Accession number20082811359856
WOS IDWOS:000245907302075
Contribution Rank2
ISBN978-1-4244-0570-1
KeywordKinematics Dynamics Humanoid Robot Arm
AbstractWe have developed a highly flexible anthropomorphic 7-DOF robotic arm for a mobile humanoid robot. The tdnematics of the arm such as workspace, singularity, the number and physical nature of self-motion are presented. The concepts and methodology of the inverse kinematics base on the self -motion of the arm are described. By this method the task and motion scheduling can simply be done. The formulations of dynamics and the dynamic effect due to the arm'i dead weight were analyzed.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/19861
Collection机器人学研究室
Corresponding AuthorZhao TJ(赵铁军)
Affiliation1.Shenyang University of Technolog, Shenyang 110023, China
2.Shenyang Institute of Automation, Chinese Academy of Science, Shenyang 110016, China
Recommended Citation
GB/T 7714
Zhao TJ,Yuan, Jing,Zhao MY,et al. Research on the kinematics and dynamics of a 7-DOF arm of humanoid robot[C]//IEEE, IEEE Robot & Automat Soc, Robot Soc Japan, Japanese Soc Mech Engineers, Peking Univ, Beijing Inst Technol, Yunnan Univ. NEW YORK:IEEE,2006:1553-1558.
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