In this work, the direct and inverse kinematics of a humanoid robotic arm are solved. It is a remote controlled social robot. To study the kinematics of the robot-manipulator, the Den-with-Hartenberg transformation matrices were obtained. The position of the last performer (hand) is determined by multiplying these matrices. To study the inverse kinematics of the robotic arm, the feedback method is used to analytically determine the contact angles.
key words: humanoid, social humanoid, robot, Denavit–Hartenberg.
