Kinematic Modelling of Humanoid Robot Based on Vectorial Approach

Abstract

The present work is dedicated to the study of the inverse kinematics solution of a humanoid bipedal robot with 30 degrees of freedom using a newly approach based on vectors that generated from the geometric space of the robot. The solutions of the inverse kinematics problem for all joints articulations are carried out through a simple and linear equations. Finally, simulations of results are performed through harmonization of trajectories of end effectors of the robot's members.