The kinematical analysis of virtual robot in text-to-visual speech synthesis

A kinematical analysis method on virtual robot is introduced. Weight calculation is utilized to solve the differences between virtual robots for text-to-visual speech synthesis and traditional joint-typed robots in kinematical analysis method. The method is divided into three major steps: firstly, establish a Denavit-Hartenberg (D-H) parameter table; secondly, establish kinematical equations of these linkage systems; thirdly, choose a proper equation in those kinematical equations which has different intensity levels by the weight. Experiment result shows that the proposed method can apparently reduce the difficulty of kinematical analysis and optimize the control. It is expected to have a strong practicality in virtual robot research.