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1

Inverse kinematics model for a 18 degrees of freedom robot

Ortega-Palacios Miguel Angel, Palomino-Merino Amparo Dora, Reyes-Cortes Fernando

Journal of Automation Mobile Robotics and Intelligent Systems

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2023

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Vol. 17, No. 1

21--29

EN

The study of humanoid robots is still a challenge for the scientific community, although there are several related works in this area, several limitations have been found in the literature that drive the need to develop an inverse kinematic modeling of biped robots. This paper presents a research proposal for the Bioloid Premium robot. The objective is to propose a complete solution to the inverse kinematics model for a 18 DOF (Degrees Of Freedom) biped robot. This model will serve as a starting point to obtain the dynamic model of the robot in a subsequent work. The proposed methodology can be extended to other biped robots.

2

An inverse kinematic model of the human training centrifuge motion simulator

Lewkowicz Rafał, Kowaleczko Grzegorz

Journal of Theoretical and Applied Mechanics

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2019

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Vol. 57 nr 1

99--113

EN

The paper presents an inverse kinematic model for a centrifuge motion simulator used to verify newly defined absolute acceleration profiles. The modelling is concerned with a human training centrifuge with three degrees of freedom. The values of kinematic parameters have been obtained for this three-jointed manipulator. Validation of the developed model has been performed by comparing the results obtained from the centrifuge motion simulator with the results of numerical simulations. The simulation revealed that the inverse kinematic model enabled calculation of the angular displacement, velocity and acceleration of the links that are needed for the given linear acceleration of the simulator cabin.

3

A study on simulation model and kinematic model of welding robot

Jeong J. W., Kim I. S., Chand R. R., Lee J. H.

Journal of Achievements in Materials and Manufacturing Engineering

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2012

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Vol. 55, nr 1

66--73

EN

Purpose: This study tries to develop a simulation model of six degree freedom for Faraman AM1 welding robot using CATIA V5 and compares with the computed kinematic model for robotic welding. The error varification of simulated model and kinematics of the robot is also being carried out. Design/methodology/approach: CATIA (Computer Aided Three dimensional Interactive Application) is a multi-platform PLM/CAD/CAM/CAE commercial software suite to use to develop six degree freedom for Faraman AM1 welding robot. The forward kinematic and inverse kinematic equations are also used to verify the developed model. Findings: The results obtained from the six degree freedom for Faraman AM1 simulated model has a good agreement with computed kinematic models equations. The catia V5 a very powerful tool which could used in develope a simulation for robotic welding system. The the angle error between simulated model and computed inverse kinmenatic equation obtained too very small. Research limitations/implications: The developed simulated in Catia is mainly aimed to be used in GMA welding process. D-H (Denavit-Hartenberg) convection is used to determine the orthonormal coordinate frames at different joints of a robotic manipulator and determining four kinematic parameters. Originality/value: The six degree freedom for Faraman AM1 welding robot is model to analysed and compared with forward and inverse knimatic.