Waveform Based Inverse Kinematics Algorithm Of Kinematically Redundant 3-Dof Manipulator
This paper presents a new approach to the problem of inverse kinematics by modelling robot arm movements as signals generated from algebra-based solutions. The inverse kinematics of point P(xP,yP) are modelled as sinusoidal functions with mechanical constraints. Unique wave forms occur at each poin...
Saved in:
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | en |
| Published: |
Association of Talent under Liberty in Technology (TULTECH)
2020
|
| Online Access: | http://eprints.utem.edu.my/id/eprint/25224/2/48-ARTICLE%20TEXT-116-1-10-20200414.PDF http://eprints.utem.edu.my/id/eprint/25224/ http://ijitis.org/index.php/ijitis/article/view/48/46 https://doi.org/10.15157/IJITIS.2020.3.2.407-428 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832718111878414336 |
|---|---|
| author | Parman, Setyamartana Machmudah, Affiani |
| author_facet | Parman, Setyamartana Machmudah, Affiani |
| author_sort | Parman, Setyamartana |
| building | UTEM Library |
| collection | Institutional Repository |
| content_provider | Universiti Teknikal Malaysia Melaka |
| content_source | UTEM Institutional Repository |
| continent | Asia |
| country | Malaysia |
| description | This paper presents a new approach to the problem of inverse kinematics by modelling robot arm movements as signals generated from algebra-based solutions. The inverse kinematics of point P(xP,yP) are modelled as sinusoidal functions with mechanical
constraints. Unique wave forms occur at each point in the workspace. There are four types of inverse kinematic waves depending on how sinusoidal waves cross the value of mechanical constraints. In terms of tracking the path, the robot's arm produces complex waves that produce the desired movement. Due to mechanical constraints, many points in the workspace have the bandwidth where the signal is produced only at limited intervals from the angular domain. Tracks must be stored at these appropriate intervals, which build bandwidth tunnels, completely from the initial configuration to the final configuration. Simulations will be carried out using 3-DOF series planar robots to track highly complex mathematical curves. With a wave-based approach, the solution of the IK problem can benefit from wave characteristics such as the superposition principle. |
| format | Article |
| id | my.utem.eprints-25224 |
| institution | Universiti Teknikal Malaysia Melaka |
| language | en |
| publishDate | 2020 |
| publisher | Association of Talent under Liberty in Technology (TULTECH) |
| record_format | eprints |
| spelling | my.utem.eprints-252242021-08-19T08:52:40Z http://eprints.utem.edu.my/id/eprint/25224/ Waveform Based Inverse Kinematics Algorithm Of Kinematically Redundant 3-Dof Manipulator Parman, Setyamartana Machmudah, Affiani This paper presents a new approach to the problem of inverse kinematics by modelling robot arm movements as signals generated from algebra-based solutions. The inverse kinematics of point P(xP,yP) are modelled as sinusoidal functions with mechanical constraints. Unique wave forms occur at each point in the workspace. There are four types of inverse kinematic waves depending on how sinusoidal waves cross the value of mechanical constraints. In terms of tracking the path, the robot's arm produces complex waves that produce the desired movement. Due to mechanical constraints, many points in the workspace have the bandwidth where the signal is produced only at limited intervals from the angular domain. Tracks must be stored at these appropriate intervals, which build bandwidth tunnels, completely from the initial configuration to the final configuration. Simulations will be carried out using 3-DOF series planar robots to track highly complex mathematical curves. With a wave-based approach, the solution of the IK problem can benefit from wave characteristics such as the superposition principle. Association of Talent under Liberty in Technology (TULTECH) 2020 Article PeerReviewed text en http://eprints.utem.edu.my/id/eprint/25224/2/48-ARTICLE%20TEXT-116-1-10-20200414.PDF Parman, Setyamartana and Machmudah, Affiani (2020) Waveform Based Inverse Kinematics Algorithm Of Kinematically Redundant 3-Dof Manipulator. International Journal of Innovative Technology and Interdisciplinary Sciences, 3 (2). pp. 407-428. ISSN 2613-7305 http://ijitis.org/index.php/ijitis/article/view/48/46 https://doi.org/10.15157/IJITIS.2020.3.2.407-428 |
| spellingShingle | Parman, Setyamartana Machmudah, Affiani Waveform Based Inverse Kinematics Algorithm Of Kinematically Redundant 3-Dof Manipulator |
| title | Waveform Based Inverse Kinematics Algorithm Of Kinematically Redundant 3-Dof Manipulator |
| title_full | Waveform Based Inverse Kinematics Algorithm Of Kinematically Redundant 3-Dof Manipulator |
| title_fullStr | Waveform Based Inverse Kinematics Algorithm Of Kinematically Redundant 3-Dof Manipulator |
| title_full_unstemmed | Waveform Based Inverse Kinematics Algorithm Of Kinematically Redundant 3-Dof Manipulator |
| title_short | Waveform Based Inverse Kinematics Algorithm Of Kinematically Redundant 3-Dof Manipulator |
| title_sort | waveform based inverse kinematics algorithm of kinematically redundant 3-dof manipulator |
| url | http://eprints.utem.edu.my/id/eprint/25224/2/48-ARTICLE%20TEXT-116-1-10-20200414.PDF http://eprints.utem.edu.my/id/eprint/25224/ http://ijitis.org/index.php/ijitis/article/view/48/46 https://doi.org/10.15157/IJITIS.2020.3.2.407-428 |
| url_provider | http://eprints.utem.edu.my/ |