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- W2361799360 abstract "The main difference of the humanoid robot from traditional robots is that it must be able to cope with the wide variety of tasks and objects encountered in dynamic unstructured environments. Redundant arm could be in infinite distinct configurations with the same hand position and orientation. The self-motion of redundant arm provides the capability for criteria optimization, obstacle and singularity avoidance and this is especially important for applications in hazardous environments. In order to achieve a high degree of flexibility and to allow the simple and direct cooperation with humans, the author developed a 7 DOFS redundant arm through synthesis of mechanism under the criterion of manipulability and the theory of 3DOF planar manipulator. To evaluate the performance and motion abilities of the anthropomorphic arm, the formulations of dynamics were addressed and the kinematics and dynamic property including workspace, singularity, self-motion, and moment of gravity were discussed. Theoretical analysis and computer simulations indicate this arm was provided with better mechanical characteristics." @default.
- W2361799360 created "2016-06-24" @default.
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- W2361799360 date "2005-01-01" @default.
- W2361799360 modified "2023-09-25" @default.
- W2361799360 title "Research on the Kinematics and Dynamics Properties of a 7-DOFS Arm of Humanoid Robot" @default.
- W2361799360 hasPublicationYear "2005" @default.
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