Efficient inverse kinematics for general 6R manipulators

A Closed Form for Inverse Kinematics Approximation of General 6R Manipulators using Genetic Programming

This paper presents an original use of Evolutionary Algorithms in order to approximate by a closed form the inverse kinematic model (IKM) of analytical, nonanalytical and general (i.e. with an arbitrary geometry) manipulators. The objective is to provide a fast and general solution to the inverse kinematic problem when it is extensively evaluated as in design processes of manipulators. A mathem...

Real time inverse kinematics for general 6R manipulators

The inverse kinematics of serial manipulators is a central problem in the automatic control of robot manipulators The main interest has been in inverse kinematics of a six revolute jointed manipulator with arbitrary geometry It has been recently shown that the joints of a general R manipulator can orient themselves in di erent con gurations at most for a given pose of the end e ector However th...

Design, Modeling, Implementation and Experimental Analysis of 6R Robot (TECHNICAL NOTE)

Design, modeling, manufacturing and experimental analysis of a six degree freedom robot, suitable for industrial applications, has been described in this paper. The robot was designed on the assumption that, each joint has an independent DC motor actuator, with gear reduction and measuring sensor for angular joint position. Mechanical design of the robot was done using Mechanical Desktop and ma...

GMDH Type Neural Networks and Their Application to the Identification of the Inverse Kinematics Equations of Robotic Manipulators (RESEARCH NOTE)

Inverse Kinematics Resolution of Redundant Cooperative Manipulators Using Optimal Control Theory

The optimal path planning of cooperative manipulators is studied in the present research. Optimal Control Theory is employed to calculate the optimal path of each joint choosing an appropriate index of the system to be minimized and taking the kinematics equations as the constraints. The formulation has been derived using Pontryagin Minimum Principle and results in a Two Point Boundary Value Pr...