Trajectory planning based on hand operation for the un-redundant arm of service robot

摘要

Any unfamiliar motions of the arm for service robot will make people anxious and human-like arm motion may be a solution. A virtual prototype of service robot with dual 6DOF (Degree of Freedom) arms named FISR (Family Intelligent Service Robot) has been developed. The application of service robot is not only performing human-like arm motion but also focusing on the hand operation such as grasping an object. So based on hand operation a formulation of elbow elevation angle is constructed to plan human-like arm motion for FISR. Furthermore a strategy about how to grasp a convex object is proposed.