Cooperative motion control of humanoid robot arm system based on dexterity analysis

摘要

The cooperative movement of both arms and the body can achieve a wider range of flexibility in operation, which enhances obstacle avoidance ability in complex working environments. However, it is difficult to calculate the proper end position of the body, which can achieve effective inverse kinematic solution during cooperative motion. In this paper, a cooperative motion control method of humanoid robot arm system based on dexterity analysis is proposed. By calculating dexterity radius and learning obstacle avoidance configuration, the end position of the body in joint space can be determined. Simulation results demonstrate that this method effectively enhances autonomous obstacle avoidance ability and kinematics solution validity.