Kinematics Modeling and Experimental Verification of Baxter Robot
The Baxter(R)humanoid robot made by Rethink RoboticsTM offers users an affordable platform with guaranteed safety for both academic and industrial applications.The platform provides the users a good opportunity to carry out research on dual-arm robot manipulation and vision based control.For simulation of the Baxter(R)robot,a proper kinematic and dynamic model should be built.The Baxter robot uses URDF file to describe the robot kinematics,i.e.,the relationship between adjacent joint and link.Consider the large difference between the structure of URDF and the conventional Denavit-Hartenburg(DH)notations which are widely used in robotics literature,we perform rigorous theoretic analysis of kinematics of Baxter(R)robot including all limbs.A kinematics model has been built following DH convention,and has been implemented in the MATLAB Robotics Toolbox.Extensive comparison between simulation and experimental results has verified the validity of the kinematic model.
Baxter(R) robot Simulink model DH convention
Zhangfeng JU Chenguang YANG Hongbin MA
North Automatic Control Technology Institute,Taiyuan,China;Centre for Robotics and Neural Systems,Sc Centre for Robotics and Neural Systems,School of Computing and Mathematics,Plymouth University,Plymo School of Automation,Beijing Institute of Technology,Beijing,China;State Key Lab of Intelligent Cont
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
8518-8523
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）