Title :
Kinematics analysis and simulation of a 6-DOF humanoid robot manipulator
Author :
Cui, Yujie ; Shi, Pu ; Jianning Hua
Author_Institution :
Dept. of Autom. Eng., Northeastern Univ. at Qinhuangdao, Qinhuangdao, China
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.
Keywords :
geometry; manipulator kinematics; 6-DOF humanoid robot manipulator; forward kinematics; geometry transformation; inverse kinematics; kinematic equations; kinematics analysis; square transformation; Analytical models; Computational geometry; Equations; Humanoid robots; Kinematics; Manipulators; Robot control; Robotics and automation; Service robots; Wrist; algebra method; geometry transformation; humanoid robot; kinematics; square transformation;
Conference_Titel :
Informatics in Control, Automation and Robotics (CAR), 2010 2nd International Asia Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-5192-0
Electronic_ISBN :
1948-3414
DOI :
10.1109/CAR.2010.5456557
