TY - JFULL AU - S. Parasuraman PY - 2008/4/ TI - Kinematics and Control System Design of Manipulators for a Humanoid Robot T2 - International Journal of Electrical and Computer Engineering SP - 624 EP - 631 VL - 2 SN - 1307-6892 UR - https://publications.waset.org/pdf/14824 PU - World Academy of Science, Engineering and Technology NX - Open Science Index 15, 2008 N2 - In this work, a new approach is proposed to control the manipulators for Humanoid robot. The kinematics of the manipulators in terms of joint positions, velocity, acceleration and torque of each joint is computed using the Denavit Hardenberg (D-H) notations. These variables are used to design the manipulator control system, which has been proposed in this work. In view of supporting the development of a controller, a simulation of the manipulator is designed for Humanoid robot. This simulation is developed through the use of the Virtual Reality Toolbox and Simulink in Matlab. The Virtual Reality Toolbox in Matlab provides the interfacing and controls to an environment which is developed based on the Virtual Reality Modeling Language (VRML). Chains of bones were used to represent the robot. ER -