The　robotic　arm　driven　by　pneumatic　artificial　muscle　has　a　configuration　similar　to　that　of　a　human　arm,　and　has　essential　compliant　characteristics,　which　has　important　research　significance　for　the　development　of　Tri-Co　(coexistence-collaboration-cognitive)　robots.　In　order　to　realize　the　real-time　motion　control　of　the　humanoid　robotic　arm,　it　is　necessary　to　model　the　kinematics　and　dynamics　of　the　robotic　arm.　In　this　paper,　the　Modified　Denavit-Hartenberg　(MDH)　method　is　used　to　model　the　forward　kinematics　of　the　humanoid　robotic　arm,　and　the　Newton-Euler　Dynamics　method　is　used　to　model　the　dynamics　of　the　humanoid　robotic　arm.　Research　shows　that　the　trajectory　of　the　human　arm　in　free　space　satisfies　the　Logistic　function,　and　the　Logistic　function　is　used　as　the　curve　of　each　joint　of　the　humanoid　robotic　arm.　According　to　the　established　model,　the　computed　torque　control　scheme　is　used　to　realize　the　control　ofthe　humanoid　robotic　arm.　Simulation　experiments　show　that　each　joint　of　the　humanoid　robotic　arm　can　accurately　track　the　desired　joint　angle　curve.