2010•Unpublished venueRequires access

Kinematics analysis and simulation of a 6-DOF humanoid robot manipulator

Yujie Cui, Pu Shi, Jianning Hua

Abstract

Detailed analysis is given to kinematics of a humanoid robot manipulator. Forward and inverse kinematics of the robot manipulator is performed through Denevit and Hartenberg method. Geometry transformation and square transformation methods are put forward in order to separate joint variables from kinematic equations and kinematics equations are obtained, whereupon mathematic formulas are provided for humanoid robot manipulator control. Simulation results verify the effectiveness of kinematics equations.

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Available abstract

Key concepts: Kinematics, Kinematics equations, Inverse kinematics, Humanoid robot, Forward kinematics, Robot kinematics, Computer science, Control theory (sociology)