Kinematics modeling and experimental verification of baxter robot

The Baxter® humanoid robot made by Rethink Robotics™ offers users an affordable platform with guaranteed safety for both academic and industrial applications. The platform provides the users a good opportunity to carry out research on dual-arm robot manipulation and vision based control. For simulation of the Baxter® robot, a proper kinematic and dynamic model should be built. The Baxter robot uses URDF file to describe the robot kinematics, i.e., the relationship between adjacent joint and link. Consider the large difference between the structure of URDF and the conventional Denavit-Hartenburg(DH) notations which are widely used in robotics literature, we perform rigorous theoretic analysis of kinematics of Baxter® robot including all limbs. A kinematics model has been built following DH convention, and has been implemented in the MATLAB Robotics Toolbox. Extensive comparison between simulation and experimental results has verified the validity of the kinematic model.

[1]  Alexander Verl,et al.  Cooperation of human and machines in assembly lines , 2009 .

[2]  M. Spong,et al.  Robot Modeling and Control , 2005 .

[3]  Jerry E. Pratt,et al.  Stiffness Isn't Everything , 1995, ISER.

[4]  Richard P. Paul,et al.  Robot manipulators : mathematics, programming, and control : the computer control of robot manipulators , 1981 .

[5]  Francesco Chinello,et al.  KCT: a MATLAB toolbox for motion control of KUKA robot manipulators , 2010, 2010 IEEE International Conference on Robotics and Automation.

[6]  Aaron Martinez,et al.  Learning ROS for Robotics Programming , 2013 .

[7]  Peter Corke,et al.  A computer tool for simulation and analysis : the Robotics Toolbox for MATLAB , 2000 .

[8]  Chenguang Yang,et al.  Human like learning algorithm for simultaneous force control and haptic identification , 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[9]  Phil F. Culverhouse,et al.  Biomimetic joint/task space hybrid adaptive control for bimanual robotic manipulation , 2014, 11th IEEE International Conference on Control & Automation (ICCA).

[10]  J. Denavit,et al.  A kinematic notation for lower pair mechanisms based on matrices , 1955 .

[11]  Angelo Cangelosi,et al.  Bimanual Robotic Manipulation with Biomimetic Joint/Task Space Hybrid Adaptation of Force and Impedance , 2014 .

[12]  Melissa Mae Wickham.  A study of haptic interactions with an under actuated robot in three dimensions , 2010 .

[13]  Peter I. Corke,et al.  A Simple and Systematic Approach to Assigning Denavit–Hartenberg Parameters , 2007, IEEE Transactions on Robotics.

[14]  J. Denavit,et al.  A kinematic notation for lowerpair mechanism based on matrices , 1955 .

[15]  Mark W. Spong,et al.  Robotica: a Mathematica package for robot analysis , 1994, IEEE Robotics & Automation Magazine.

[16]  Peter I. Corke,et al.  A robotics toolbox for MATLAB , 1996, IEEE Robotics Autom. Mag..