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.
Kinematics of the “Ai-Gerim” Robot Arm
Mechan. Machine Science
International Conference on Robotics in Alpe-Adria Danube Region ; 2022 ; Klagenfurt, Austria June 08, 2022 - June 10, 2022
2022-04-23
8 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Springer Verlag | 2021
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