Comparative Analysis of the Kinematics Solution Based on the DH Method and Screw Theory

The premise of analyzing and researching robot technology is to establish a proper mathematical model then solve it with kinematics. In this study, self-developed humanoid hydraulically driven dual-arm taken as the research object, DH (Denavit–Hartenberg) parameter method rotational exponential formula (POE) are used kinematics robot. calculation results verified by simulation. advantages disadvantages two methods analyzed. differences between compared. It lays foundation for other scholars choose models when mechanism in future.