A complete analytical solution to the inverse kinematics of the Pioneer 2 robotic arm

A Hybrid Appproach to Inverse Kinematics Modeling and Control of Pioneer 2 Robotic Arms

— For robotic manipulators that are redundant or with high degrees of freedom, an analytical solution to the inverse kinematics is very difficult or impossible. As alternative approaches, neural networks and optimal search methods have been widely used for inverse kinematics modeling and control in robotics. This paper presents a first analytical solution to the inverse kinematics of a widely u...

Trajectory Generation and Tracking of a 5-dof Robotic Arm

The main problem in trajectory generation and tracking of robotic manipulators is to plan the trajectory and compute the required joint angles. Inverse kinematics modelling is usually adopted, though sometimes other approaches are needed due to the lack of reliability and accuracy of analytical methods. This paper presents a comparison between an analytical inverse kinematics based hybrid appro...

An LPV Approach to Sensor Fault Diagnosis of Robotic Arm

One of the major challenges in robotic arms is to diagnosis sensor fault. To address this challenge, this paper presents an LPV approach. Initially, the dynamics of a two-link manipulator is modelled with a polytopic linear parameter varying structure and then by using a descriptor system approach and a robust design of a suitable unknown input observer by means of pole placement method along w...

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

Robotic Arm Manipulator Control for SG5-UT

This paper presents a complete forward and inverse kinematics solution for SG5-UT, 5 DOF robotic arm. The solution is intended to be implemented on a microprocessor to control the arm in any environment. The control presented in the paper makes it possible to manipulate the arm to any reachable position. The algorithm derived in this paper has been successfully tested on the arm. This arm is an...