Development of Geometrical Inverse Kinematics and Motion Planning Algorithm for a Redundant Robot Manipulator

Abstract

The manipulator, much higher intelligence and technology for realizing environment are required to carry objects in case the intelligent service robot assists or substitutes human works. The manipulator of them executes works gripping or carrying object at any position in various environments. The manipulator of household service robot should be able to accomplish the task carrying small thing, a glass and stationery. And human-friendly design reducing a possibility of danger is required to execute orders and reduce an unpleasant feeling. Also, motion of Robot manipulator should be able to reduce an unpleasant feeling by similar motion such as human’s arm and avoid a obstacle for carrying obstacle. This paper suggests geometrical inverse kinematics and motion planning algorithm about the redundant robot manipulator making use of human-friendly design and implementing human’s arm motions. We verified geometrical inverse kinematics and motion planning algorithm for avoiding obstacle by simulator and experiment.