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...

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Main Authors: Mohamed, H.A.F., Yahya, S., Moghavvemi, M., Yang, S.S.
Format: Conference or Workshop Item
Published: 2009
Subjects:
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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
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institution Universiti Malaya
last_indexed 2024-03-06T05:24:27Z
publishDate 2009
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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)
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