Forward Kinematics with Full Body Analysis in "T-FLoW" Humanoid Robot

摘要

The main parameters to generate and calculate dynamics system models is position of each joint from its origin position. This paper describes about full body calculation position of each joint based on system design of "T-FLoW" humanoid robot using forward kinematics (FK) analysis. The FK analysis is used to transform the rotational value (degree) of each joint into position vector (cartesian space) of each joint. FK analysis in each joint is combined step by step from its origin until reach the last joint number (end of effector - EoE). The result from this combination is position vector of each joint from its origin. From the result shows the full body FK analysis with homogenous transformation method is represent the real pose of T-FLoW humanoid robot. This full body joint position vector is used to complete the dynamics system model calculation of T-FLoW humanoid robot.