Research Article
Balance Maintenance in High-Speed Motion of Humanoid Robot Arm-Based on the 6D Constraints of Momentum Change Rate
Table 2
Motion parameters of the arm joints.
| | Motion range of the joint angle (deg) | Maximum angular velocity (deg/s) | Maximum angular acceleration (deg/s2) | | Minimum | Maximum |
| Pitch of shoulder | −120 | 40 | 430 | 5730 | Roll of shoulder | −130 | 10 | 430 | 5730 | Yaw of shoulder | −170 | 90 | 573 | 5730 | Roll of elbow | −20 | 110 | 573 | 5730 | Yaw of wrist | −130 | 130 | 573 | 2865 | Roll of wrist | −90 | 90 | 487 | 2865 | Pitch of wrist | −60 | 60 | 487 | 2865 |
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