Kinematic analysis of 7 DoF head humanoid FLoW: V-REP simulation

One of the focus in humanoid robot research is head motion and mechanism, yet it still has a limited pan and tilt motion to represent a real human head movement. This study is working on kinematic analysis of an earlier proposed 7 DOF manipulator system that can closely mimics a human head motion capability. The concentration of the work is to design a head mechanism and to develop a composite kinematics model of the head motions which includes the eyes, the head itself and the neck. Such a model was also simulated using the dynamic V-REP application to verify its movements capabilities and to compare the kinematics analysis. Stages will be discussed in more detail in the chapter on testing. The results showed transformation biggest difference is 2.3340% error that occurred on 3 DOF motion contained in the head manipulator.