TY - GEN
T1 - Kinematics analysis and simulation of a 6-DOF humanoid robot manipulator
AU - Cui, Yujie
AU - Shi, Pu
AU - Hua, Jianning
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
KW - Algebra method
KW - Geometry transformation
KW - Humanoid robot
KW - Kinematics
KW - Square transformation
UR - http://www.scopus.com/inward/record.url?scp=77953033260&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77953033260&partnerID=8YFLogxK
U2 - 10.1109/CAR.2010.5456557
DO - 10.1109/CAR.2010.5456557
M3 - Conference contribution
AN - SCOPUS:77953033260
SN - 9781424451937
T3 - CAR 2010 - 2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics
SP - 246
EP - 249
BT - CAR 2010 - 2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics
T2 - 2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics, CAR 2010
Y2 - 6 March 2010 through 7 March 2010
ER -