In this paper, the direct and inverse kinematics of the “Ai-Gerim” humanoid robot arm are solved. This robot is a remotely controlled social robot. For the study of kinematics of the robot arm, the Denavit – Hartenberg transformation matrices are derived. The pose of the end-effector (hand) in the direct kinematics is determined by multiplying these matrices. For the study of the inverse kinematics of the robot arm, a reverse decoupling method is used to analytically determine the joint angles.


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    Titel :

    Kinematics of the “Ai-Gerim” Robot Arm


    Weitere Titelangaben:

    Mechan. Machine Science


    Beteiligte:
    Müller, Andreas (Herausgeber:in) / Brandstötter, Mathias (Herausgeber:in) / Baigunchekov, Zhumadil (Autor:in) / Carbone, Giuseppe (Autor:in) / Zhumasheva, Zhadyra (Autor:in) / Amanov, Bekzat (Autor:in) / Zholdassov, Yernar (Autor:in) / Tolenov, Serik (Autor:in) / Tleukhanov, Alibek (Autor:in)

    Kongress:

    International Conference on Robotics in Alpe-Adria Danube Region ; 2022 ; Klagenfurt, Austria June 08, 2022 - June 10, 2022



    Erscheinungsdatum :

    2022-04-23


    Format / Umfang :

    8 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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