Workspace Analysis of 7-DOF Humanoid Robotic Arm

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/).

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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  -