Grasp Track Planning with the NAO Robot Under Mixed Constraints of Multi-space
Qiuyu Wang · Journal of Changchun University of Science and Technology · 2014
In order to improve reliability of NAO robot's arm grasping,this article designs a grasping track,which combines the joint space and Cartesian space,to grasp an object.Since the size of target object is known,the Joint space control can pre-set the best attitude of NAO robot grasping,which is joint angles of NAO robot arm.And then compute the position of arm's moving with forward kinematics.With the Cartesian space control,the track was arranged between the position of settled posture and the goal object.The experiment shows this algorithm can grasp the goal object in space accurately within a given range in NAO coordinate.