LSPB Trajectory Planning: Design for the Modular Robot Arm Applications

In this paper, we report a household service robot with multi-sensor and modular arms. According to the DH convention, the coordinate system of robot arm is established. The methods of solving direct and inverse kinematics are introduced. Because both acceleration and speed of the arm modular are limited, so LSPB trajectory planning method is designed for our robot arm. Simulations and experimental results on our modular robot arm are presented.