Forward kinematics of a human-arm system and inverse kinematics using vector calculus

Simple procedure in designing and studying forward and inverse kinematics of a 5-DOF humanoid robotic arm. Firstly, the idea of imitating human's joint behavior using servo-pairs is introduced. Then, using Denavit-Hartenberg parameters, the forward kinematics of the arm is calculated. After that, one solution for the inverse kinematics problem is proposed, in an iterative way such that further models can be solved also.