Algorithm and implementation of joint trajectory planning for virtual robot's legs

A complete planning mechanism was established to improve efficiency of trajectory planning of biped robot. The kinematic model of robot's legs was built by D-H method. Trajectory planning for robot's legs was finished based on complete kinematic model of the biped robot. The stability of the robot was improved by adding multiple geometrical constraints. Rotation angles of each joint were obtained by solving equation sets based on the planned trajectory equations. The 3D model of biped robot was built by the software of 3DS MAX. The servo interface between servo drivers and the virtual motion control software was created which was programmed by software of Visual Studio. Experiment results indicate that the mechanism can promote working efficiency greatly as well as having good control performance.