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A new method for computing numerical solution to the motion planning of humanoid robot arm is developed. The proposed method is based on combination of two nonlinear programming techniques. Forward recursion formula with backward cycle computation method is used to reach in the vicinity of target object and then FBS method is used to grasp object in real-time. Proposed method is numerically stable, computationally effective and it is not sensitive to singular configuration of the manipulator. Effectiveness of the proposed method is achieved through results.