Inverse displacement analysis of a novel hybrid humanoid robotic arm

摘要

The application of hybrid mechanisms in the field of humanoid robots has attracted significant attention. A novel eight-degree-of-freedom hybrid manipulator is proposed to realize a kinematic function similar to that of the human arm. A general method for solving the inverse displacement problem of hybrid mechanisms is given, and the proposed humanoid robotic arm is taken as an example to demonstrate the solution process of this method. Furthermore, a closed-form solution for the inverse displacement problem of the hybrid humanoid robotic arm is derived by using the given method based on screw theory, exponential product formula, and Paden-Kahan subproblems. In addition, the problem of verifying and selecting the appropriate solutions according to the starting postures is also illustrated in a series of simulation experiments. Simulation experiment results show that there are (at most) 32 sets of solutions for the proposed humanoid robotic arm according to the same target position-orientation matrix and the given redundant input variables, and the accuracy of the proposed method for solving the inverse displacement problem is verified. (C) 2019 Elsevier Ltd. All rights reserved.