Comparative analysis for kinematics of 5-DOF industrial robotic manipulator

• Autorzy: Manjaree S. , Nakra B. C. , Agarwal V.

Identyfikatory

DOI

10.1515/ama-2015-0037

• Języki publikacji: EN

Abstrakty

EN

This paper gives the kinematic analysis of a 5-DOF industrial robotic manipulator while considering wrist in motion. Analytical solutions have been obtained for forward kinematics and inverse kinematics to accurately position the end-effector of robotic manipulator in three dimensional spaces. For the first time, a hybrid neuro-fuzzy intelligent technique with two different membership functions has been studied and their performances are comparatively evaluated with analytical solutions. An experiment has been performed for a desired trajectory. It is seen that the results for the intelligent technique are reasonably in agreement with experiment. Also, the results obtained highlight the importance of selection of a particular membership function for robotic manipulators of industrial use.

Słowa kluczowe

EN

kinematic analysis; wrist; anfis; membership function; degree of freedom

PL

analiza kinematyczna; nadgarstek; manipulator przemysłowy; robot przemysłowy

• Wydawca: Oficyna Wydawnicza Politechniki Białostockiej
• Czasopismo: Acta Mechanica et Automatica
• Rocznik: 2015
• Tom: Vol. 9, no. 4
• Strony: 229--240
• Opis fizyczny: Bibliogr. 32 poz., rys., tab., wykr.

Twórcy

autor

Manjaree S.

• Department of Mechanical Engineering, The Northcap University (Formerly ITM University), Sector 23 A, Gurgaon, India

autor

Nakra B. C.

• Department of Mechanical Engineering, IIT Delhi, Hauz Khas, New Delhi, India

autor

Agarwal V.

• Department of MPAE, NSIT, Sector 3, Dwarka, New Delhi, India

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