Kinematic Description of Humanoid Robots using Method of Block Matrices

The article is dedicated to kinematic description of complex humanoid robots designed for carrying out multiple tasks that people face during their regular working process, along with tasks connected with dangerous conditions (work in the outer space, dealing with hazardous objects). The method of mathematical description of those complex machines via mathematical apparatus of block matrices was suggested. The approach allows us to describe complex robots via developing kinematical equations in a more compact form. The process of block matrices' forming follows evident rules, which makes the method a convenient tool for developing the computer programs for calculations. To illustrate the practical application of the approach, mathematical apparatus of block matrices was used in order to describe the kinematics of humanoid robot-astronaut moving in conditions of zero gravity being attached to stationary basis via multilink umbilical cable

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