{"title":"基于矢量法的仿人机器人运动学建模","authors":"Nacer Hadidi, Chawki Mahfoudi, Mohamed Bouaziz, Zaharuddin Mohamed, Ahcene Bouzida","doi":"10.53907/enpesj.v4i1.271","DOIUrl":null,"url":null,"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.","PeriodicalId":200690,"journal":{"name":"ENP Engineering Science Journal","volume":"42 24","pages":""},"PeriodicalIF":0.0000,"publicationDate":"2024-07-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Kinematic Modelling of Humanoid Robot Based on Vectorial Approach\",\"authors\":\"Nacer Hadidi, Chawki Mahfoudi, Mohamed Bouaziz, Zaharuddin Mohamed, Ahcene Bouzida\",\"doi\":\"10.53907/enpesj.v4i1.271\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":200690,\"journal\":{\"name\":\"ENP Engineering Science Journal\",\"volume\":\"42 24\",\"pages\":\"\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2024-07-13\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"ENP Engineering Science Journal\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.53907/enpesj.v4i1.271\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"ENP Engineering Science Journal","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.53907/enpesj.v4i1.271","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Kinematic Modelling of Humanoid Robot Based on Vectorial Approach
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.
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