Kinematics Analysis and Verification of Six-DoF Humanoid Robotic Manipulator

Abstract

The joint coordinate system of the six-degree-of-freedom manipulator is established, and the kinematics equation of the six-degree-of-freedom manipulator is established according to the D-H parameter method. Forward kinematics finds the position and attitude of the end mechanism based on the joint angle of the joint. Inverse kinematics uses geometry methods to solve according to the selections. Using MATLAB to compare the forward and inverse kinematics solution is multiple poses to verify the accuracy of the algorithm and choose the last frame six with the origin at the center of the end-effector flange.