Forward Kinematics with Full-Arm Analysis on “T-FLoW” 3.0 Humanoid Robot

摘要

This paper develops and analyzes a set of arm and hand mechanical system of the T-FLoW Humanoid Robot, which consists of a 7 Degree of Freedom (DoF) Arm and a 6 Degree of Freedom (DoF) Hand. With Kinematic calculations, mathematical modeling of the arm can be obtained using rotational matrices and translational matrices based on the rotational frame at each joint of the robotic arm and hand. Forward Kinematic (FK) analysis requires a combination of homogeneous matrices obtained from the rotation frame of each joint and the distance of each joints. From the results of Forward Kinematic, it can be used as a robot modeling in Matlab visualization by comparing robot’s hand and arm model on V-REP so that the original pose of the arm and hand of the Humanoid T-FLoW robot can be known.