Axis manipulation to solve Inverse Kinematics of Hyper-Redundant Robot in 3D Space
A solution based on inverse kinematics is required for the robot's end effector, also known as its tip, to reach a target. Current methods for solving the inverse kinematics solution for a hyper-redundant robot in three 3D are generally complex, difficult to visualise, and time intensive. The...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Asosiasi Staf Akademik Perguruan Tinggi Seluruh Indonesia (ASASI)
2022
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| Subjects: | |
| Online Access: | http://ir.unimas.my/id/eprint/40090/4/Axis%20manipulation%20-%20Copy.pdf http://ir.unimas.my/id/eprint/40090/ https://asasijournal.id/index.php/jiae/index http://doi.org/10.51662/jiae.v2i2.81 |
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| Summary: | A solution based on inverse kinematics is required for the robot's end effector, also known as its tip, to reach a target. Current methods for solving the inverse
kinematics solution for a hyper-redundant robot in three 3D are generally complex, difficult to visualise, and time intensive. The condition requires development of new
algorithms for solving inverse kinematics more quickly and efficiently. In this study, an axis manipulation using a geometrical approach is used. Initially, a general
algorithm for a 2-m-link hyper-redundant robot in 3D is generated. Then, the method employed a repetitive basic inverse kinematics solution of a two-link robot
on virtual links. Next, the virtual links are generated using a specific geometric proposition. Finally, the 3D solution is generated by rotating about the global zaxis. This method reduces the mathematical complexity required to solve the inverse kinematics solution for a 2-m-link robot. In addition, this method can manage variable link manipulators, thereby eliminating singularity. Numerical simulations of hyper redundant models in 3D are presented. This new geometric approach is anticipated to enhance the performance of hyper-redundant robots, enabling them
to be of more significant assistance in fields such as medicine, the military, and search and rescue. |
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