Authors
Jiwu Wang, Junxiang Xu*
School of Mechanical and Electronic Engineering, Beijing Jiaotong University, Beijing, Haidian District, China
*Corresponding author. Email: [email protected]
Corresponding Author
Junxiang Xu
Received 2 December 2020, Accepted 22 April 2021, Available Online 6 June 2021.
DOI
https://doi.org/10.2991/jrnal.k.210521.013How to use a DOI?
Keywords
Dual-arm robots; real-time; inverse kinematics; simulation
Abstract
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.
Copyright
© 2021 The Authors. Published by ALife Robotics Corp. Ltd.
Open Access
This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).