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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 555Proper Assisted Research Method Solving of the...

Proper Assisted Research Method Solving of the Robots Inverse Kinematics Problem

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Abstract:

Finding the better solution of the inverse kinematics problem, with the minimum of the trajectory errors, is very difficult because there are many variable parameters and many redundant solutions. The presented paper show the assisted solving of the inverse kinematics with the goal to minimize the final end-effector trajectory errors, by optimizing the distance between the and-effector final position and the target. All obtained results were been verified by applying the proper forward kinematics virtual LabVIEW instrumentation. The paper tries to answer at the inverse kinematics problem for one known mathematical trajectory and identifying the cinematic errors after the establishing and applying the proper assisted solving method using the Cycle Coordinate Descent Method coupled to the proper Neural Network Sigmoid Bipolar Hyperbolic Tangent (CCDM-SBHTNN). We were shown one complete study case to obtain one circle space trajectory using one arm type robot fixed on the ceiling. The presented method is general and can be used in all other robots types and in all other conventional and unconventional space curves.

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Periodical:

Applied Mechanics and Materials (Volume 555)

Pages:

135-146

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.555.135

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Cite this paper

Online since:

June 2014

Authors:

Adrian Olaru*, Serban Olaru, Niculae Mihai

Keywords:

Assisted Research, Forward Kinematics, Inverse Kinematics, Jacobian Matrix, Labview Instrumentation, Neural Network (NN), Pseudo Inverse Matrix

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* - Corresponding Author

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