Kinematics of the Ai-Gerim Robot Arm

In this paper, the direct and inverse kinematics of the Ai-Gerim humanoid robot arm are solved. This robot is a remotely controlled social robot. For the study of kinematics of the robot arm, the Denavit - Hartenberg transformation matrices are derived. The pose of the end-effector (hand) in the direct kinematics is determined by multiplying these matrices. For the study of the inverse kinematics of the robot arm, a reverse decoupling method is used to analytically determine the joint angles.

Automated summary

This paper solves the direct and inverse kinematics problems of the Ai-Gerim humanoid robot arm and introduces the characteristics of the robot and the methods used.