휴머노이드 양팔의 경로 생성

Until now, The robot ann was limited to the industrial manipulator and the most study of humanoid robot has been only focused on robot walking methodologies. Since the multi DOF(Degree of Freedom) system like humanoid robot ann has high-dimension configuration space that is impossible to appear geometrically and has many constraints of kinematics and dynamics, path planning of the system requires a quantity of computation and is so complicated. In this paper, the path planning algorithm will be employed for humanoid robot(Maru-1) arms. RRT(Rapidly-exploring Random Tree) algorithm is selected, which was proved an efficient approach to multi-arm motion plan. The employed algorithm with kinematic analysis will be evaluated using 3D graphic simulation.