Kinematics modeling of six degrees of freedom humanoid robot arm using improved damped least squares for visual grasping

<span lang="EN-US">The robotic arm has functioned as an in the humanoid robot and is generally used to perform grasping tasks. Accordingly, kinematics modeling both forward inverse required calculate end-effector position cartesian space before performing activities. This research presents of six degrees freedom (6-DOF) T-FLoW for mechanism visual systems on operating system (ROS) platform CoppeliaSim. Kinematic singularity a common problem model robots, but. However, other problems are mechanical limitations computational time. The work uses homogeneous transformation matrix (HTM) based Euler demonstrates capability improved damped least squares (I-DLS) method kinematics. I-DLS was obtained by improving original DLS with joint limits clamping techniques. performs better than during experiments yet increases calculation iteration 10.95%, maximum error between target positions path planning 0.1 cm.</span>