Trajectory planning of NAO robot arm based on target recognition

Abstract

In order to grasp object by NAO robot arm, the position of target object is identified using NaoMarks and an optimal path of arm motion is considered by trajectory planning. Firstly, the kinematics model of the robot arm is established by using D-H modeling method, where D-H kinematic parameters are obtained through the structure analysis of NAO robot arm. Secondly, the target object is located by detecting Naomarks and combining with the Cartesian space and joint space. Trajectory planning is given using inverse kinematics. Finally, experimental results show that the NAO robot arm in motion is smooth, and NAO can grasp objects exactly.