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We have developed a highly flexible anthropomorphic 7-DOF robotic arm for a mobile humanoid robot. The kinematics of the arm such as workspace, singularity, the number and physical nature of self-motion are presented. The concepts and methodology of the inverse kinematics base on the self-motion of the arm are described. By this method the task and motion scheduling can simply be done. The formulations of dynamics and the dynamic effect due to the arm's dead weight were analyzed.