Closed-Form Inverse Kinematic Solution for Anthropomorphic Motion in Redundant Robot Arms
نویسندگان
چکیده
منابع مشابه
Closed-form inverse kinematic solution for fluoroscopic C-arms
This paper presents a closed-form solution to the inverse kinematic problem for general fluoroscopic C-arms. The resulting algorithm determines the necessary joint parameters for imaging a given point of interest p from a given direction z. The existence and uniqueness of the solution is proven for all p and z. The inverse kinematics lays the basis for a completely robotized C-arm. The paper de...
متن کاملMathematical Model for Motion Control of Redundant Robot Arms
Motion planning is an essential activity in executing manipulation tasks with robot arms like welding, painting or simple “pick-and-place” operations. A typical requirement for such tasks is to achieve flexibility of the robot arm motion similar to that of a human hand. The objective of the here proposed mathematical model is to satisfy this requirement in path planning a robot arm motion with ...
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 کاملHuman-like motion of a humanoid robot arm based on a closed-form solution of the inverse kinematics problem
Humanoid robotics is a new challenging field. To cooperate with human beings, humanoid robots not only have to feature human-like form and structure but, more importantly, they must possess human-like characteristics regarding motion, communication and intelligence. In this paper, we propose an algorithm for solving the inverse kinematics problem associated with the redundant robot arm of the h...
متن کاملInverse 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 کاملذخیره 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: Advances in Robotics & Automation
سال: 2013
ISSN: 2168-9695
DOI: 10.4172/2168-9695.1000110