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Geometrical formulation and analysis of dynamics of a simple mechanical system

100%

Awrejcewicz J. , Sendkowski D.

tom Vol. 22

73--78

The inverse kinematics problem of AX-12 robotic arm manipulator

84%

Szkodny T.

tom Vol. 17, no. 3

991-1002

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.