%0 Journal Article
	%A S. Parasuraman
	%D 2008
	%J International Journal of Electrical and Computer Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 15, 2008
	%T Kinematics and Control System Design of Manipulators for a Humanoid Robot
	%U https://publications.waset.org/pdf/14824
	%V 15
	%X 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.
	%P 625 - 631