Structure Synthesis And ARM Posture Planning Of Humanoid Robotic ARM

Humanoid robotic arm is the frontier topic of present robot research. As thedevelopment of social demand and science technology, especially to the marketizationand commercialization of humanoid service robots, humanized features has been thenew demand for robot. Robotic arm’s humanized features consist mainly of two sides:human-like structure and human-like motion. Human-like structure makes the roboticarm more close human in appearance and structure. When the robotic arm looks likethe same as people’s own shape, it will cause resonance for operators, then strengthenthe psychological comfort. Human-like motion makes the robotic arm works ashuman, and human beings as a higher organism of natural evolution, the movementmechanism must have unique advantages. It’s will inevitably increase the efficiencywith the human movement mechanism to control robotic arm.Firstly, based on related theoretical researches in human anatomy, all theconfigurations of humanoid robotic arm in serial have been constructed with humanarm’s architectural feature. Then a global relative manipulability index has been putforward to analyze the dexterity of robotic arm, and screening the best type ofhumanoid robotic arm. It provides theoretical basis for humanoid robotic arm designand lays the foundation for the follow-up study of motion planning.Secondly, based on the laws of human arm motion, the idea of “upper arm lessmovement, forearm more movement” has been provided to solve the reaching pointmovements for robotic arm. By employing gradient projection method, an inversekinematic method based on joint self-motion has been provided. This algorithmmakes use of the laws of human arm motion to solve the robotic arm’s final posture.Then, based on the task-priority, a posture planning method about multitaskingconstraints has been provided to solve robotic arm transporting water glass. Thismethod puts the laws of human arm motion into robotic arm’s motion planning. Theindex of human arm posture has been used to achieve the goal of human-like.Finally, an experimental platform is constructed. It consists of two parts:OptiTrack rigid body motion capture system and humanoid robotic arm3D motionsimulation system. It affords experiment support and theory proving for the research.