Geometric approach to solving inverse kinematics of six DOF robot with spherical joints
Typ dokumentu
articlePeer-reviewed
publishedVersion
Autor
Hadidi, Nacer
Bouaziz, Mohamed
Mahfoudi, Chawki
Zaharuddin, Mohamed
Práva
Creative Commons Attribution 4.0 International Licensehttp://creativecommons.org/licenses/by/4.0/
openAccess
Metadata
Zobrazit celý záznamAbstrakt
Inverse kinematics is a fundamental concept in robotics that plays a crucial role in a robot’s ability to perform tasks. In this contribution, we propose a novel geometric approach based on vector calculus to solve the inverse kinematics problem. The primary advantage of this approach originates from the solutions, which exhibit a linear form and uncoupled equations. To validate the effectiveness and correctness of our proposed method, we constructed a six-degrees-of-freedom robot. This robot is controlled by an Arduino Mega 2650 on which we have implemented the inverse kinematics algorithm. The validation process involved considering various desired trajectories of the end-effector, which were simulated in Matlab and then performed by the physical robot. Importantly, our findings confirm that the end-effector successfully tracks the predefined trajectories. Furthermore, we conducted a comparative analysis between Paul’s method and the results obtained from joint angles using our proposed approach. Interestingly, our study reveals a significant similarity between the two sets of results, reaffirming the accuracy and validity of the approach presented in this study.
Kolekce
K tomuto záznamu jsou přiřazeny následující licenční soubory:
Kromě případů, kde je uvedeno jinak, licence tohoto záznamu je Creative Commons Attribution 4.0 International License