Path Planning of a 6DOF Humanoid Manipulator
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.
Liangchi Zhang, Chunliang Zhang and Zichen Chen
Y. J. Cui "Path Planning of a 6DOF Humanoid Manipulator", Advanced Materials Research, Vols. 328-330, pp. 2163-2166, 2011