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

Volume

2

fYear

2010

fDate

6-7 March 2010

Firstpage

246

Lastpage

249

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Informatics in Control, Automation and Robotics (CAR), 2010 2nd International Asia Conference on

Conference_Location

Wuhan

ISSN

1948-3414

Print_ISBN

978-1-4244-5192-0

Electronic_ISBN

1948-3414

Type

conf

DOI

10.1109/CAR.2010.5456557

Filename

5456557