The inverse kinematics problem of AX-12 robotic arm manipulator

• Autorzy: Szkodny T.
• Języki publikacji: EN

Abstrakty

EN

In this paper the solution algorithm of the inverse kinematics problem for AX-12 Robotic Arm with a four degrees of freedom (DOF) manipulator is presented. This algorithm is an essential component of the future of computer intelligence of the manipulator. This algorithm will be implemented into the controller of these manipulators and it will allow their control by using the vision information, which specifies the required location of the end-effector. This required location makes it possible for the end-effector to approach a manipulation object (observed by cameras) and pick it up, without the necessity of preliminary leading the manipulator to the object. Currently, the information obtained from the camera is sent via the Internet to the user. The user is remotely controlls via the Internet the movement of the manipulator by means of a joystick. These manipulators have five links joined by a revolute joint. First, the location of the end-effector in relation to the base of the manipulator was described. Next, the analytical formulas for joint variables (dependent on these location) were presented. These formulas take into account the multiple solutions for singular configurations of these manipulators.

Słowa kluczowe

EN

kinematics; manipulators; mechanical system; robot kinematics

PL

kinematyka; manipulatory; system mechaniczny; robot

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mechanics and Engineering
• Rocznik: 2012
• Tom: Vol. 17, no. 3
• Strony: 991--1002
• Opis fizyczny: Bibliogr. 11 poz., wykr.

Twórcy

autor

Szkodny T.

• Institute of Automatic Control Silesian University of Technology Gliwice, Akademicka st., 16 44-100 Gliwice, POLAND,

Bibliografia

• Baczyński M. (2010): Transformation of the mechanical impedance of the object to the teleoperator server. - The doctoral dissertation. Technical University of Łódź. Łódź, 2010, chapter 1.
• Craig J.J. (1989): Introduction to robotics. - New York. Addison-Weseley Publ. Comp. 1989, charter 4.
• Jezierski E. (2006): Dynamics and Control of Robots. - Warsaw. WNT 2006, ch.2, (in Polish).
• Kozłowski K., Dutkiewicz P. and Wróblewski W. (2003): Modeling and Control of Robots. - Warsaw. PWN, ch 1, (in Polish).
• Mikulski M. and Szkodny T. (2011): Remote Control and Monitiring of AX-12 Robotic Arm Based on Windows Communication Foundation. - Man-Machine Interactions-2. Berlin Heidelberg: Springer-Verlag, part. III, pp.77-83.
• Paul R.P. (1983): Robot manipulators: mathematics, programming and control. - Cambridge, MA, The MIT Press, ch.2.
• Szkodny T. (2004): Modeling and Simulation of Industrial Robot Manipulator Motion. - Gliwice. Silesian University of Technology Publ. Company, ch.2, (in Polish).
• Szkodny T. (2009a): Basic Component of Computational Intelligence for IRB-1400 Robots. - Man-Machine Interactions. Berlin Heidelberg: Springer-Verlag, part. XI, pp.637-646.
• Szkodny T. (2009b): Kinematics of Industrial Robots. - Gliwice. Silesian University of Technology Publ. Company, ch.2,3,4 (in Polish).
• Szkodny T. (2010): Foundation of Robotics Problems Set. - Gliwice. Silesian University of Technology Publ. Company, (in Polish).
• Szkodny T. (2011): Foundation of Robotics. - Gliwice. Silesian University of Technology Publ. Company, (in Polish).