Biologically motivated servomechanism kinematic models

Abstract

Forward and inverse kinematic models for a human like (HL) robot joint are developed and used to simulate the behavior of the joint. The forward kinematic model of the HL joint is found simply to consist of two rotational motions about fixed coordinate frames. The inverse tangent (atan2) function technique is used to develop an inverse kinematic model of the HL joint. This technique also prevents singular values from occurring in the calculations. Simulation results of the forward kinematic model are presented.