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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Atlantis Press
2021-06-01
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| Series: | Journal of Robotics, Networking and Artificial Life (JRNAL) |
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| Online Access: | https://www.atlantis-press.com/article/125957510/view |
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doaj-baa72bc3c1f844feb733b59b5857afc42021-06-15T15:41:24ZengAtlantis PressJournal of Robotics, Networking and Artificial Life (JRNAL)2352-63862021-06-018110.2991/jrnal.k.210521.013Kinematic Modeling and Simulation of Dual-Arm RobotJiwu WangJunxiang XuIn 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.https://www.atlantis-press.com/article/125957510/viewDual-arm robotsreal-timeinverse kinematicssimulation |
| collection |
DOAJ |
| language |
English |
| format |
Article |
| sources |
DOAJ |
| author |
Jiwu Wang Junxiang Xu |
| spellingShingle |
Jiwu Wang Junxiang Xu Kinematic Modeling and Simulation of Dual-Arm Robot Journal of Robotics, Networking and Artificial Life (JRNAL) Dual-arm robots real-time inverse kinematics simulation |
| author_facet |
Jiwu Wang Junxiang Xu |
| author_sort |
Jiwu Wang |
| title |
Kinematic Modeling and Simulation of Dual-Arm Robot |
| title_short |
Kinematic Modeling and Simulation of Dual-Arm Robot |
| title_full |
Kinematic Modeling and Simulation of Dual-Arm Robot |
| title_fullStr |
Kinematic Modeling and Simulation of Dual-Arm Robot |
| title_full_unstemmed |
Kinematic Modeling and Simulation of Dual-Arm Robot |
| title_sort |
kinematic modeling and simulation of dual-arm robot |
| publisher |
Atlantis Press |
| series |
Journal of Robotics, Networking and Artificial Life (JRNAL) |
| issn |
2352-6386 |
| publishDate |
2021-06-01 |
| description |
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. |
| topic |
Dual-arm robots real-time inverse kinematics simulation |
| url |
https://www.atlantis-press.com/article/125957510/view |
| work_keys_str_mv |
AT jiwuwang kinematicmodelingandsimulationofdualarmrobot AT junxiangxu kinematicmodelingandsimulationofdualarmrobot |
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1721375966190632960 |