Abstract
This paper designs and implements a simulation system that can verify the planning algorithms such as table tennis trajectory planning and robot leg movement planning. The simulation system and the humanoid robot’s control system are connected based on the RTnet real-time Ethernet protocol. The table tennis game of the humanoid robot is implemented using the simulation of the forward and inverse kinematics of the robot arm, the hitting planning, and the forward and inverse kinematics of the robot leg.
Highlights
In recent years, research in the field of robotics has become very popular and has attracted the attention of many researchers.[1,2,3,4] They have successively developed robots for various fields
Since real-time control of the robot joints is necessary for the control system of the humanoid robot, the realtime Linux system based on the Xenomai real-time framework has been chosen
We have proposed the implementation of the seamless connection between the simulation system and the humanoid robot control system
Summary
Research in the field of robotics has become very popular and has attracted the attention of many researchers.[1,2,3,4] They have successively developed robots for various fields. Since real-time control of the robot joints is necessary for the control system of the humanoid robot, the realtime Linux system based on the Xenomai real-time framework has been chosen. The control of the distributed joint controllers is implemented via RTnet-based real-time Ethernet.
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