吉林大学学报(工学版) ›› 2016, Vol. 46 ›› Issue (5): 1595-1601.doi: 10.13229/j.cnki.jdxbgxb201605031

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Tracking motion control method of humanoid head and neck robot

QI Ruo-long1,2, ZHANG Wei1, WANG Tie-jun1, LI Zheng1   

  1. 1.The State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences,Shenyang 110016,China;
    2.University of Chinese Academy of Sciences,Beijing 100049, China
  • Received:2015-04-16 Online:2016-09-20 Published:2016-09-20

Abstract: Humanoid head and neck robot, which is part of humanoid robot, is responsible for dynamic visual target tracking. In order to be able to accurately track the target, the centre of the robot's sight field serves as stretch link in the kinematics model of the humanoid head and neck robot. The target position calculated by the binocular camera system is translated to the aim point, where the link mechanism moves to in the mathematic model. Damped least squares inverse kinematics method, which is used to eliminated the joint singularity, is modified to make the redundant humanoid head and neck robot moves like human being. The modified algorithm not only makes the robot to avoid the singularity in the movement, but also guarantees joint limit avoidance, comfortable joint movement and produces natural-looking postures. Simulation and experiment results show that the modified algorithm is more robust and stable.

Key words: automatic control technology, redundant manipulator, damped least squares method, virtual links, joint limits, joint comfortable criteria

CLC Number: 

  • TP273
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