Geometrical Analysis of Inverse Kinematics Solutions and Fuzzy Control of Humanoid Robot Arm under Kinematics Constraints

This paper presents inverse kinematics analysis of a humanoid robot arm under geometric constraints. Given Cartesian position variables without orientation information, all joint values of the humanoid robot arm can be obtained analytically. This method is specially useful for joint control of the human like robot arm structure. Simulation studies are performed to verify the kinematics analysis. The Cartesian trajectory tracking task of the robot arm using a fuzzy controller is conducted to confirm the proposed analysis.