Motion Planning ofHumanoid RobotArmforgrasping task

A newmethodforcomputing numerical solution to themotionplanning ofhumanoid robotarm isdeveloped. The proposed methodisbasedon combination oftwononlinear programming techniques. Forwardrecursion formulawith backwardcyclecomputation methodisusedtoreachinthe vicinity oftarget object andthenFBSmethodisusedtograsp object inreal-time. Proposed methodisnumerically stable, computationally effective anditisnotsensitive tosingular configuration ofthemanipulator. Effectiveness oftheproposed methodisachieved through results. IndexTerms-Transportation, coursealignment, Inverse kinematics andtrajectories.