Workspace Analysis of 7-DOF Humanoid Robotic Arm

The 7-DOF humanoid robotic arm joint coordinate systems are established and link parameters are determined by D-H method, and the robotic arm kinematics model is established. The position and orientation of robotic arm end-effector is generated by homogeneous transform method. Monte Carlo method is proposed in analyzing the workspace of robotic arm and the echogram of robotic arm is calculated based on mapping relation from joint space to workspace of robotic arm. The reference basis is provided for follow-up robot trajectory planning, dynamics analysis, and motion control and parameter optimization.