A novel solution of inverse kinematic for 6R robot manipulator with offset joint based on screw theory
نویسندگان
چکیده
منابع مشابه
Inverse Kinematic Solution of Robot Manipulator Using Hybrid Neural Network
Inverse kinematics of robot manipulator is to determine the joint variables for a given Cartesian position and orientation of an end effector. There is no unique solution for the inverse kinematics thus necessitating application of appropriate predictive models from the soft computing domain. Although artificial neural network (ANN) can be gainfully used to yield the desired results but the gra...
متن کاملSolution of Inverse Kinematic Problem of a 2DOF Robot Using Decomposition Method
The inverse kinematics problem of a two degree of freedom (2DOF) planar robot arms issolved using Adomian’s decomposition method (ADM), after converting to a system of twononlinear algebraic equations. The advantage of the method is that it gives the solutions asfunctions of the desired position of the end effecter and the length of the arms. The accuracyof the solutions can be increased up to ...
متن کاملInverse Kinematic and Jacobian Solution for Serial Manipulator based on Optimized Neural Network
Singularities and uncertainty in manipulator dynamic is a major issue in kinematic control of manipulator which is obtained by applying robot model. In this paper, artificial neural networks with optimal training process and training data have been proposed as a way to solve this problem. The main idea of this approach is to use an artificial neural network to learn the characteristics of the r...
متن کاملA closed-loop inverse kinematic scheme for on-line joint-based robot control
A computationally fast inverse kinematic scheme is derived which solves robot's end-effector (EE) trajectories in terms of joint trajectories. The inverse kinematic problem (IKP) is cast as a control problem for a simple dynamic system. The resulting closed-loop algorithms are shown to guarantee satisfactory tracking performance. Differently from previous first-order schemes which only solve fo...
متن کاملa new type-ii fuzzy logic based controller for non-linear dynamical systems with application to 3-psp parallel robot
abstract type-ii fuzzy logic has shown its superiority over traditional fuzzy logic when dealing with uncertainty. type-ii fuzzy logic controllers are however newer and more promising approaches that have been recently applied to various fields due to their significant contribution especially when the noise (as an important instance of uncertainty) emerges. during the design of type- i fuz...
15 صفحه اولذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2020
ISSN: 1729-8814,1729-8814
DOI: 10.1177/1729881420925645