Kinematic analysis of a dual-arm humanoid cooking robot
- Resource Type
- Conference
- Authors
- Zhai, Jiaxin; Yan, Weixin; Fu, Zhuang; Zhao, Yanzheng
- Source
- 2012 IEEE International Conference on Mechatronics and Automation Mechatronics and Automation (ICMA), 2012 International Conference on. :249-254 Aug, 2012
- Subject
- Robotics and Control Systems
Power, Energy and Industry Applications
Fields, Waves and Electromagnetics
Communication, Networking and Broadcast Technologies
Computing and Processing
Engineered Materials, Dielectrics and Plasmas
Robot kinematics
Joints
Service robots
Kinematics
Manipulators
Jacobian matrices
Kinematic
Dual-arm
Cooking robot
Jacobian
- Language
- ISSN
- 2152-7431
2152-744X
The dual-arm humanoid cooking robot is able to cook dishes like a master chef in ordinary home kitchens. The kinematic analysis is carried out for the arm of the robot. Coordinate frames are assigned to each link of the arm using the Denavit-Hartenberg convention. The working space of the arm is calculated. The kinematic equations are obtained by calculating the homogeneous transformation matrix. The inverse kinematic solution is obtained and verified by simulation. The Jacobian of the arm is obtained by the vector product method.