A new inverse kinematics method for three dimensional redundant manipulators
This paper describes a new geometrical method to solve the inverse kinematic problem for hyper redundant manipulators. The proposed method finds one solution from these infinite solutions. By using this method, the angles between each adjacent links are the same, which makes controlling the movement...
| Main Authors: | , , , |
|---|---|
| Formato: | Conference or Workshop Item |
| Publicado: |
2009
|
| Subjects: |
| _version_ | 1825719745825996800 |
|---|---|
| author | Mohamed, H.A.F. Yahya, S. Moghavvemi, M. Yang, S.S. |
| author_facet | Mohamed, H.A.F. Yahya, S. Moghavvemi, M. Yang, S.S. |
| author_sort | Mohamed, H.A.F. |
| collection | UM |
| description | This paper describes a new geometrical method to solve the inverse kinematic problem for hyper redundant manipulators. The proposed method finds one solution from these infinite solutions. By using this method, the angles between each adjacent links are the same, which makes controlling the movement of these links easier and makes a lining up of two or more joint axes not possible, i.e. very effective for avoiding singularities. A comparison between the proposed manipulator and the PUMA manipulator has been carried out. The manipulability index of both manipulators has been calculated to show the effectiveness of the proposed method. Experiments have been conducted on three links manipulator. |
| first_indexed | 2024-03-06T05:24:27Z |
| format | Conference or Workshop Item |
| id | um.eprints-9678 |
| institution | Universiti Malaya |
| last_indexed | 2024-03-06T05:24:27Z |
| publishDate | 2009 |
| record_format | dspace |
| spelling | um.eprints-96782017-11-23T02:21:18Z http://eprints.um.edu.my/9678/ A new inverse kinematics method for three dimensional redundant manipulators Mohamed, H.A.F. Yahya, S. Moghavvemi, M. Yang, S.S. TA Engineering (General). Civil engineering (General) This paper describes a new geometrical method to solve the inverse kinematic problem for hyper redundant manipulators. The proposed method finds one solution from these infinite solutions. By using this method, the angles between each adjacent links are the same, which makes controlling the movement of these links easier and makes a lining up of two or more joint axes not possible, i.e. very effective for avoiding singularities. A comparison between the proposed manipulator and the PUMA manipulator has been carried out. The manipulability index of both manipulators has been calculated to show the effectiveness of the proposed method. Experiments have been conducted on three links manipulator. 2009-08 Conference or Workshop Item PeerReviewed Mohamed, H.A.F. and Yahya, S. and Moghavvemi, M. and Yang, S.S. (2009) A new inverse kinematics method for three dimensional redundant manipulators. In: ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009, 18-21 August 2009, Fukuoka, Japan. |
| spellingShingle | TA Engineering (General). Civil engineering (General) Mohamed, H.A.F. Yahya, S. Moghavvemi, M. Yang, S.S. A new inverse kinematics method for three dimensional redundant manipulators |
| title | A new inverse kinematics method for three dimensional redundant manipulators |
| title_full | A new inverse kinematics method for three dimensional redundant manipulators |
| title_fullStr | A new inverse kinematics method for three dimensional redundant manipulators |
| title_full_unstemmed | A new inverse kinematics method for three dimensional redundant manipulators |
| title_short | A new inverse kinematics method for three dimensional redundant manipulators |
| title_sort | new inverse kinematics method for three dimensional redundant manipulators |
| topic | TA Engineering (General). Civil engineering (General) |
| work_keys_str_mv | AT mohamedhaf anewinversekinematicsmethodforthreedimensionalredundantmanipulators AT yahyas anewinversekinematicsmethodforthreedimensionalredundantmanipulators AT moghavvemim anewinversekinematicsmethodforthreedimensionalredundantmanipulators AT yangss anewinversekinematicsmethodforthreedimensionalredundantmanipulators AT mohamedhaf newinversekinematicsmethodforthreedimensionalredundantmanipulators AT yahyas newinversekinematicsmethodforthreedimensionalredundantmanipulators AT moghavvemim newinversekinematicsmethodforthreedimensionalredundantmanipulators AT yangss newinversekinematicsmethodforthreedimensionalredundantmanipulators |