A new geometrical inverse kinematics method for planar hyper redundant manipulators

Yahya, S.; Mohamed, H.A.F.; Moghavvemi, M.; Yang, S.S. (2009) A new geometrical inverse kinematics method for planar hyper redundant manipulators. In: Conference on Innovative Technologies in Intelligent Systems and Industrial Applications, 25-26 July 2009, Kuala Lumpur.

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Obtaining the joint variables that result in a desired position of the robot end-effector called as inverse kinematics is one of the most important problems in robot kinematics and control. As the complexity of robot increases, obtaining the inverse kinematics solution requires the solution of non linear equations having transcendental functions are difficult and computationally expensive. This paper proposed a new geometrical method to find the inverse kinematics of the planar redundant manipulators. Using the proposed method, singularity avoidance is achieved by setting the angles between the adjacent links to be equal, which makes it impossible for any two or more joint axes to line up. Two study cases are simulated in this paper to show the performance of the proposed method.

Item Type: Conference or Workshop Item (Paper)
  1. Yahya, S.(University of Malaya)
  2. Mohamed, H.A.F.(University of Malaya)
  3. Moghavvemi, M.(Department of Electrical Engineering, Faculty of Engineering, University of Malaya, 50603 Kuala Lumpur, MALAYSIA)
  4. Yang, S.S.(University of Malaya)
Additional Information: Univ Malaya, CRAE, Kuala Lumpur 50603, Malaysia
Uncontrolled Keywords: Computer Science; Engineering
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
T Technology > TA Engineering (General). Civil engineering (General)
Depositing User: Mr. Faizal Hamzah
Date Deposited: 19 Oct 2011 09:56
Last Modified: 23 Nov 2017 10:17
URI: http://eprints.um.edu.my/id/eprint/2237

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