In this paper block model and machine model of Robotic humanoid arm has been generated Using MATLAB Simulink. Equations of Kinematics are derived by using D-H notation. By this equation and inverse kinematics parameters for the motion trajectory have been determined. Kinematic parameters are divided into two groups namely, link parameters and joint parameters. Geometric model and motion of robotic humanoid arm with two link model with 3 Degree of freedom and arm with palm and fingers with 18 degree of freedom has been realized. Virtual simulation of the arm is also first step in actually controlling the mechanical structure.
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