Simulation of Inverse Kinetic Solution for Artificial Human Arm using Hybrid Algorithm in Virtual Reality

Abstract

This work simulate an artificial human arm. It aims to allow this arm to implement the actual movement of the human arm in virtual reality by solving the inverse kinematic of human arm using a hybrid algorithm. Inverse kinematics problem is not linear; this means that the analytical solutions are available only in limited cases. This paper presents a strategy based on analytical solutions along with non-linear optimization algorithm solutions to solve the Inverse Kinematic Problem (IKP). The analytical solution is used to reduce the size of the problem of variables from 7 angles to one variable. Nonlinear optimization is used to find the approximate solution that makes computation time is very small. Virtual reality in the MATLAB environment provides communications and controls that have been developed on the basis of Virtual Reality Modeling Language (VRML).