Path Planning of a 6DOF Humanoid Manipulator

Yu Jie Cui

doi:10.4028/www.scientific.net/AMR.328-330.2163

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 328-330Path Planning of a 6DOF Humanoid Manipulator

Path Planning of a 6DOF Humanoid Manipulator

Abstract:

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.

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Periodical:

Advanced Materials Research (Volumes 328-330)

Pages:

2163-2166

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.328-330.2163

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Online since:

September 2011

Authors:

Yu Jie Cui

Keywords:

Humanoid Manipulator, Path Planning, Polynomials Interpolation

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References

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