A multi-objective approach for the trajectory planning of a 7-DOF serial-parallel hybrid humanoid arm

•Inspired by the human arm, a 7-DOF redundant hybrid humanoid arm is proposed.•Dynamic full solutions are obtained by equilibrium and deformation equations.•Based on the normalized Jacobian condition number, an optimal path is obtained by using GA.•The trajectory, interpolated by quintic B-splines,...

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Bibliographic Details

Published in:	Mechanism and machine theory Vol. 165; p. 104423
Main Authors:	Wang, Zesheng, Li, Yanbiao, Sun, Peng, Luo, Yiqin, Chen, Bo, Zhu, Wentao
Format:	Journal Article
Language:	English
Published:	Elsevier Ltd 01.11.2021
Subjects:	B-spline Hybrid robotic arm Jacobian condition number Multi-objective algorithm Trajectory planning Trajectory planning Multi-objective algorithm Hybrid robotic arm B-spline Jacobian condition number
ISSN:	0094-114X
Online Access:	Get full text
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