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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: Annisa, Jamali, Sheldon Ijau, Winston
Format: Article
Language:English
Published: Asosiasi Staf Akademik Perguruan Tinggi Seluruh Indonesia (ASASI) 2022
Subjects:
TA Engineering (General). Civil engineering (General)
TJ Mechanical engineering and machinery
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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spelling my.unimas.ir.400902022-10-06T02:30:26Z http://ir.unimas.my/id/eprint/40090/ Axis manipulation to solve Inverse Kinematics of Hyper-Redundant Robot in 3D Space Annisa, Jamali Sheldon Ijau, Winston TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery 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. Asosiasi Staf Akademik Perguruan Tinggi Seluruh Indonesia (ASASI) 2022-09-31 Article PeerReviewed text en http://ir.unimas.my/id/eprint/40090/4/Axis%20manipulation%20-%20Copy.pdf Annisa, Jamali and Sheldon Ijau, Winston (2022) Axis manipulation to solve Inverse Kinematics of Hyper-Redundant Robot in 3D Space. Journal of Integrated and Advanced Engineering, 2 (2). pp. 112-122. ISSN 2774-602X https://asasijournal.id/index.php/jiae/index http://doi.org/10.51662/jiae.v2i2.81
institution Universiti Malaysia Sarawak
building Centre for Academic Information Services (CAIS)
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Sarawak
content_source UNIMAS Institutional Repository
url_provider http://ir.unimas.my/
language English
topic TA Engineering (General). Civil engineering (General)
TJ Mechanical engineering and machinery
spellingShingle TA Engineering (General). Civil engineering (General)
TJ Mechanical engineering and machinery
Annisa, Jamali
Sheldon Ijau, Winston
Axis manipulation to solve Inverse Kinematics of Hyper-Redundant Robot in 3D Space
description 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.
format Article
author Annisa, Jamali
Sheldon Ijau, Winston
author_facet Annisa, Jamali
Sheldon Ijau, Winston
author_sort Annisa, Jamali
title Axis manipulation to solve Inverse Kinematics of Hyper-Redundant Robot in 3D Space
title_short Axis manipulation to solve Inverse Kinematics of Hyper-Redundant Robot in 3D Space
title_full Axis manipulation to solve Inverse Kinematics of Hyper-Redundant Robot in 3D Space
title_fullStr Axis manipulation to solve Inverse Kinematics of Hyper-Redundant Robot in 3D Space
title_full_unstemmed Axis manipulation to solve Inverse Kinematics of Hyper-Redundant Robot in 3D Space
title_sort axis manipulation to solve inverse kinematics of hyper-redundant robot in 3d space
publisher Asosiasi Staf Akademik Perguruan Tinggi Seluruh Indonesia (ASASI)
publishDate 2022
url 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
_version_ 1746213634214723584
score 13.23648

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