Geometric approach to solving inverse kinematics of six dof robot with spherical joints
Inverse kinematics is a fundamental concept in robotics that plays a crucial role in a robot’s ability to perform tasks. In this contribution, we propose a novel geometric approach based on vector calculus to solve the inverse kinematics problem. The primary advantage of this approach originates fro...
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Czech Technical University in Prague
2023
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my.utm.1048752024-03-25T09:13:42Z http://eprints.utm.my/104875/ Geometric approach to solving inverse kinematics of six dof robot with spherical joints Hadidi, Nacer Mohamed Bouaziz, Mohamed Bouaziz Mahfoudi, Chawki Mohamed Zaharuddin, Mohamed Zaharuddin TK Electrical engineering. Electronics Nuclear engineering Inverse kinematics is a fundamental concept in robotics that plays a crucial role in a robot’s ability to perform tasks. In this contribution, we propose a novel geometric approach based on vector calculus to solve the inverse kinematics problem. The primary advantage of this approach originates from the solutions, which exhibit a linear form and uncoupled equations. To validate the effectiveness and correctness of our proposed method, we constructed a six-degrees-of-freedom robotThis robot is controlled by an Arduino Mega 2650 on which we have implemented the inverse kinematics algorithm. The validation process involved considering various desired trajectories of the end-effector, which were simulated in Matlab and then performed by the physical robot. Importantly, our findings confirm that the end-effector successfully tracks the predefined trajectories. Furthermore, we conducted a comparative analysis between Paul’s method and the results obtained from joint angles using our proposed approach. Interestingly, our study reveals a significant similarity between the two sets of results, reaffirming the accuracy and validity of the approach presented in this study. Czech Technical University in Prague 2023 Article PeerReviewed application/pdf en http://eprints.utm.my/104875/1/ZaharuddinMohamed2023_GeometricApproachtoSolvingInverseKinematics.pdf Hadidi, Nacer and Mohamed Bouaziz, Mohamed Bouaziz and Mahfoudi, Chawki and Mohamed Zaharuddin, Mohamed Zaharuddin (2023) Geometric approach to solving inverse kinematics of six dof robot with spherical joints. Acta Polytechnica, 63 (5). pp. 326-346. ISSN 1805-2363 http://dx.doi.org/10.14311/AP.2023.63.0326 DOI : 10.14311/AP.2023.63.0326 |
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TK Electrical engineering. Electronics Nuclear engineering |
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TK Electrical engineering. Electronics Nuclear engineering Hadidi, Nacer Mohamed Bouaziz, Mohamed Bouaziz Mahfoudi, Chawki Mohamed Zaharuddin, Mohamed Zaharuddin Geometric approach to solving inverse kinematics of six dof robot with spherical joints |
| description |
Inverse kinematics is a fundamental concept in robotics that plays a crucial role in a robot’s ability to perform tasks. In this contribution, we propose a novel geometric approach based on vector calculus to solve the inverse kinematics problem. The primary advantage of this approach originates from the solutions, which exhibit a linear form and uncoupled equations. To validate the effectiveness and correctness of our proposed method, we constructed a six-degrees-of-freedom robotThis robot is controlled by an Arduino Mega 2650 on which we have implemented the inverse kinematics algorithm. The validation process involved considering various desired trajectories of the end-effector, which were simulated in Matlab and then performed by the physical robot. Importantly, our findings confirm that the end-effector successfully tracks the predefined trajectories. Furthermore, we conducted a comparative analysis between Paul’s method and the results obtained from joint angles using our proposed approach. Interestingly, our study reveals a significant similarity between the two sets of results, reaffirming the accuracy and validity of the approach presented in this study. |
| format |
Article |
| author |
Hadidi, Nacer Mohamed Bouaziz, Mohamed Bouaziz Mahfoudi, Chawki Mohamed Zaharuddin, Mohamed Zaharuddin |
| author_facet |
Hadidi, Nacer Mohamed Bouaziz, Mohamed Bouaziz Mahfoudi, Chawki Mohamed Zaharuddin, Mohamed Zaharuddin |
| author_sort |
Hadidi, Nacer |
| title |
Geometric approach to solving inverse kinematics of six dof robot with spherical joints |
| title_short |
Geometric approach to solving inverse kinematics of six dof robot with spherical joints |
| title_full |
Geometric approach to solving inverse kinematics of six dof robot with spherical joints |
| title_fullStr |
Geometric approach to solving inverse kinematics of six dof robot with spherical joints |
| title_full_unstemmed |
Geometric approach to solving inverse kinematics of six dof robot with spherical joints |
| title_sort |
geometric approach to solving inverse kinematics of six dof robot with spherical joints |
| publisher |
Czech Technical University in Prague |
| publishDate |
2023 |
| url |
http://eprints.utm.my/104875/1/ZaharuddinMohamed2023_GeometricApproachtoSolvingInverseKinematics.pdf http://eprints.utm.my/104875/ http://dx.doi.org/10.14311/AP.2023.63.0326 |
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1794545941490958336 |
| score |
13.251813 |