Kinematic analysis of a dual-arm humanoid cooking robot

摘要

The dual-arm humanoid cooking robot is able to cook dishes like a master chef in ordinary home kitchens. The kinematic analysis is carried out for the arm of the robot. Coordinate frames are assigned to each link of the arm using the Denavit-Hartenberg convention. The working space of the arm is calculated. The kinematic equations are obtained by calculating the homogeneous transformation matrix. The inverse kinematic solution is obtained and verified by simulation. The Jacobian of the arm is obtained by the vector product method.