ARMS KINEMATICS ON A HUMANOID ROBOT TH-1

摘要

The main characteristics of humanoid robot arms is their motion capability, such as shaking hands, assisting balance while walking, etc. This paper presents kinematics for the double arms of a self developed humanoid robot TH 1, featured roll bend mechanical structure, to provide the mathematic control formulas. Coordination transform, triangle transform, etc are proposed to successfully derive the inverse kinematics analytic equations for the humanoid robot TH 1 arms. A simulation software is also established to verify the feasibility on both the direct and inverse kinematics.