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 dualarm 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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Kinematics modeling and experimental verification of baxter robot


    Contributors:


    Publication date :

    2014-07-01


    Size :

    598872 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Robot Arm Kinematics

    Corke, Peter | Springer Verlag | 2021


    Baxter Kinematic Modeling, Validation and Reconfigurable Representation

    Djuric, Ana M. / e Silva, Lucas / Marques, Mairon et al. | SAE Technical Papers | 2016


    Design and Strength Analysis of the Base for Robot Baxter

    Filip Duda / Natália Jasminská / Ingrid Delyová | BASE | 2020

    Free access

    Verbal Chess using Computer Vision with the Baxter Research Robot

    Connell, Zephaniah / Desmond, Connor / Cook, Ryan | BASE | 2018

    Free access

    A new kinematics modeling approach for mobile robot maniulators

    Djouani,K. / Fried,G. / Pontau,J. et al. | Automotive engineering | 1999