Kinematics Analysis of 6-DOF Humanoid Robotic Arm

With the continuous development of robotics technology, the research of humanoid robots designed to face complex environments has begun to take off. This paper mainly analyses the forward and inverse kinematics of the 6-DOF humanoid robot arm. Firstly, the D-H model of the 6-DOF humanoid robot arm is constructed. Secondly, algebraic and numerical methods are employed to solve the inverse kinematics problem of the robot arm. Then an algebraic method is used to solve the remaining joint angles, and finally a set of solutions is selected from the inverse solution for verification. The maximum deviation between the target pose and the actual pose, given a specific set of joint variables, is merely 0.0009 rad from the roll value.