Path Planning of a 6DOF Humanoid Manipulator

摘要：

Based on kinematics analysis, this paper introduces polynomials interpolation for path planning of a 6DOF humanoid manipulator based on kinematic models. The cubic and quintic polynomials interpolations are used for interpolation algorithm. The simulation experiments show the correctness and feasibility of the algorithm and the quintic polynomial is superior to the cubic polynomial.

关键词： Humanoid manipulator Polynomials interpolation Path planning

作者: Yujie Cui

作者单位: Department of Automation Engineering, Northeastern University, Qinhuangdao, 066004, China

会议类型: 国际会议

会议名称: 2011 International Conference on Mechatronics and Materials Processing(2011年机电一体化与材料加工国际会议 ICMMP)

会议地点: 广州

会议语种:英文

页码: 2163-2166

在线出版日期: 2011-11-18（万方平台首次上网日期，不代表论文的发表时间）