Humanoid Whole Arm Reverse Modeling and Kinematic Simulation
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Graphical Abstract
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Abstract
The whole arm is constructed in CATIA by the arm point clouds, which can make the arm more anthropomorphic. Then kinematics analysis and control algorithm are carried out for the whole arm model. By CATIA/DMU Kinematics, its kinematics simulation is accomplished, which can be as the basis of the trajectory design and movement design of artificial upper limbs.
Key words: humanoid whole arm; reverse design; kinematic analysis; simulation
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