A motion planning method for an anthropomorphic arm based on movement primitives of human arm triangle

Motion planning for anthropomorphic arm is discussed in this paper. A three-level motion planning framework "joint space - movement primitive space - task space" is established by introducing movement primitives of human arm triangle as the bridge connecting the task space and joint space. The proposed method can not only control the motion process of an anthropomorphic arm, but can also simplify the motion planning work of complicated operation tasks. The forward and inverse kinematics among joint space, human arm triangle space, and task space are derived by coordinate transformation and geometric analysis. And then, on the basis of this, the joint trajectories of two movement primitives based on the human arm triangle, including motion of moving on the working plane and self-motion of switching working planes, can be obtained by solving corresponding differential equation groups. Finally, the feasibility and effectiveness of the method are verified by two simulation examples.