Inverse Kinematics Solution of a 6-DOF Industrial Robot

被引：2

作者：

Dash, Kshitish K. ^{[1
]}

Choudhury, B. B. ^{[1
]}

Senapati, S. K. ^{[1
]}

机构：

[1] Indira Gandhi Inst Technol, Dhenkanal 759146, Odisha, India

来源：

SOFT COMPUTING IN DATA ANALYTICS, SCDA 2018 | 2019年 / 758卷

关键词：

Industrial robot; Inverse kinematics; ANN;

D O I：

10.1007/978-981-13-0514-6_19

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A vital part of many industrial robot manipulators is to reach required position and orientation of end effectors so as to complete the pre-defined task. To get this, one should have knowledge of kinematics, i.e. inverse kinematics (IK). Though inverse kinematics never gives a closed form solution, it is too difficult to solve such problem of an industrial robot. There are so many analytical and other simulation methods which are adopted to solve this IK problem for our 6-DOF industrial pick and place robot. In this paper, artificial neural networks (ANN) are used and simulated by using MATLAB.

引用

页码：183 / 192

页数：10

共 50 条

[21] Analytical solution to inverse kinematic problem for 6-DOF robot-manipulator
I. A. Vasilyev
A. M. Lyashin
Automation and Remote Control, 2010, 71 : 2195 - 2199
[22] Analytical Solution to Inverse Kinematic Problem for 6-DOF Robot-Manipulator
Vasilyev, I. A.
Lyashin, A. M.
AUTOMATION AND REMOTE CONTROL, 2010, 71 (10) : 2195 - 2199
[23] Solution for forward kinematics of 6-DOF parallel robot based on particle swarm optimization
Li, Lei
Zhu, Qidan
Xu, Liyan
2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS, 2007, : 2968 - 2973
[24] Bio-inspired Approach for Inverse Kinematics of 6-DOF Robot Manipulator with Obstacle Avoidance
Abainia, Kheireddine
Ben Ali, Yamina Mohamed
2018 3RD INTERNATIONAL CONFERENCE ON PATTERN ANALYSIS AND INTELLIGENT SYSTEMS (PAIS), 2018, : 207 - 214
[25] Sensor module design and forward and inverse kinematics analysis of 6-DOF sorting transferring robot
Zhou, Huiying
Lin, Jiajian
Liu, Lei
Tao, Meng
2017 2ND INTERNATIONAL SEMINAR ON ADVANCES IN MATERIALS SCIENCE AND ENGINEERING, 2017, 231
[26] Learning the Forward and Inverse Kinematics of a 6-DOF Concentric Tube Continuum Robot in SE(3)
Grassmann, Reinhard
Modes, Vincent
Burgner-Kahrs, Jessica
2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2018, : 5125 - 5132
[27] Kinematics Analysis and Simulation of a 6-DOF Humanoid Robot Manipulator
Cui, Yujie
Shi, Pu
Hua, Jianning
2010 2ND INTERNATIONAL ASIA CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS (CAR 2010), VOL 2, 2010, : 246 - 249
[28] Kinematics Analysis of 6-DoF Articulated Robot with Spherical Wrist
Asif, Seemal
Webb, Philip
MATHEMATICAL PROBLEMS IN ENGINEERING, 2021, 2021
[29] Kinematics Analysis of a Mobile 6-DOF Coal Sampling Robot
Deng, Rong
Xu, Haibo
Wang, Jun
Li, Yuanfang
Huang, Wenyu
Fan, Xing
PROCEEDINGS OF THE 2018 3RD INTERNATIONAL CONFERENCE ON ELECTRICAL, AUTOMATION AND MECHANICAL ENGINEERING (EAME 2018), 2018, 127 : 224 - 228
[30] Inverse Kinematics of a 7R 6-DOF Robot with Nonspherical Wrist Based on Transformation into the 6R Robot
Wang, Xuhao
Zhang, Dawei
Zhao, Chen
MATHEMATICAL PROBLEMS IN ENGINEERING, 2017, 2017

← 1 2 3 4 5 →