NDLI: The study of NAO robot arm based on direct kinematics by using D-H method

Content Provider	IEEE Xplore Digital Library
Author	Shuhui Wen Zhiyuan Ma Shuhuan Wen Yongsheng Zhao Jiantao Yao
Copyright Year	2014
Description	Author affiliation: Parallel Robot & Mechatron. Syst. Lab. of Hebei Province, Yanshan Univ., Qinhuangdao, China (Yongsheng Zhao; Jiantao Yao) \|\| Key Lab. of Ind. Comput. Control Eng. of Hebei Province, Yanshan Univ., Qinhuangdao, China (Shuhui Wen; Zhiyuan Ma; Shuhuan Wen)
Abstract	Direct and inverse kinematics are commonly implemented to determine main parameters affecting humanoid robots behavior and specify the reliable method to control motion and preserve stability. This paper presents a direct kinematics method for humanoid NAO model. The approach is analytical based on classic methods like Denavit-Hartenberg convention which are employed to derive forward kinematics equations. Firstly, it analyses the upper limb topology of NAO model and establishes the kinematics models. Secondly, the homogeneous transformation matrix of upper limb joints of the robot is derived in this paper. Finally, the simulations are given by using the Robotic Toolbox from MATLAB software to test the derivation.
Starting Page	515
Ending Page	518
File Size	265786
Page Count	4
File Format	PDF
ISBN	9781479950119
DOI	10.1109/CONTROL.2014.6915193
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-07-09
Publisher Place	UK
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Robotic Toolbox Kinematics Grasping D-H method Mathematical model Joints MATLAB Humanoid robot
Content Type	Text
Resource Type	Article

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