Humanoid Robot Analysis
KINEMATIC ANALYSIS OF HUMANOID ROBOT ARM
ABSTRACT
The humanoid robots are necessarily to be developed because of its ability to perform variety of tasks in flexible environment. This paper presents the design, kinematics analysis and simulation of an arm of 14 Degree of Freedom (DOF) humanoid robot (AKSHAR). The Forward kinematics is done by Denavit and Hartenberg (DH) transformation method. Generally, the inverse kinematics is mostly non-linear and difficult to solve. To overcome this issue, the elbow and wrist are considered as coupled link because of their relative motion which leads to solve the problem with less complexity. To find a suitable approach to solve inverse kinematics of arm of AKSHAR, a comparative study is carried out between
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The AKSHAR robot has total 14 DOF. The geometric
?
method is implemented for analysis the inverse kinematics and its simulation results are obtained through MATLAB. In this paper, the ANFIS is used to verify the geometry data and to compute the error. The solution employed by ANFIS should be verified with actual values.
In the paper, the section II describes the architecture of the AKSHAR humanoid robot with motion of joints, DOF of the humanoid robot, and joints position in body. In the section III, the DH method, the structure of right arm of the robot, and the frame assignments for joints are detailed. The mathematical equations and matrices are derived in section IV and its simulation result is carried out in section V.
2. CONFIGURATION OF AKSHAR
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COMPUTATION OF KINEMATIC ARM MODEL
The mathematical approach for kinematics equations is considered as standard DH method which is based on numbering system of frames and its parameter. The solution divides in two parts; Forward Kinematics and Inverse Kinematics.
4.1 FORWARD KINEMATICS
The forward kinematics is useful to determine the final position or orientation of wrist. The angle of rotation of links is required, based on that, the final poison of end effector is determined. Here c1 ans s1 stands for cos(?1) and sin(?1) respectively.
Total transformation of frames is given below,
0T4= 0T1 1T2 2T3 3T4 (1)
The transformation matrix of the humanoid robot arm is detailed as per DH convention. The individual transformation matrices are expressed as below.
0T1=
1T2=
?
(5)
2T3=
(6)
?
3T4=
By applying the above matrices in the Eqn.(1), the final transformation matrix is,
?
The values of ?1 and ?2 can be obtained by the above equations,
(7)
(8)
?
4.2.2 ANFIS
ANFIS is introduced to reduce the error and to
0T4=
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