The 7-DOF humanoid robotic arm joint coordinate systems are established and link parameters are determined by D-H method, and the robotic arm kinematics model is established. The position and orienta-tion of robotic arm end-effector is generated by homogeneous transform method. Monte Carlo method is pro-posed in analyzing the workspace of robotic arm and the nephogram of robotic arm is calculated based on mapping relation from joint space to workspace of robotic arm. The reference basis is provided for follow-up robot trajectory p...
