Résumé
The present work is dedicated to the study of the inverse kinematics solution of a humanoid bipedal robot with 30 degrees of freedom using a newly approach based on vectors that generated from the geometric space of the robot. The solutions of the inverse kinematics problem for all joints articulations are carried out through a simple and linear equations. Finally, simulations of results are performed through harmonization of trajectories of end effectors of the robot's members.
Mots-clés
biped robotHumanoid robotInverse kinematicRoboticsvectors calculus
Auteurs
- 1Ecole Nationale Polytechnique, Mechanical Engineering
- 2Univ. of Larbi Ben M'hidi, Oum El Bouaghi, ALGERIA.
- 3Ecole National Polytechnique, Algiers, ALGERIA
- 4Universiti Teknologi Malaysia, Johor Bahru, MALAYSIA.
- 5Univ. Akli Mohand Oulhadj, Bouira, ALGERIA.
Citer cet article
nacer HADIDI, Chawki Mahfoudi, Mohamed Bouaziz, Zaharuddin Mohamed, Ahcene Bouzida (2024) Kinematic Modelling of Humanoid Robot Based on Vectorial Approach. ENP Engineering Science Journal 4(1) pp. 35-43 https://doi.org/10.53907/enpesj.v4i1.271