A new inverse kinematics method for three dimensional redundant manipulators

Mohamed, H.A.F. and Yahya, S. and Moghavvemi, M. and Yang, S.S. (2009) A new inverse kinematics method for three dimensional redundant manipulators. In: ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009, 18-21 August 2009, Fukuoka, Japan.

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This paper describes a new geometrical method to solve the inverse kinematic problem for hyper redundant manipulators. The proposed method finds one solution from these infinite solutions. By using this method, the angles between each adjacent links are the same, which makes controlling the movement of these links easier and makes a lining up of two or more joint axes not possible, i.e. very effective for avoiding singularities. A comparison between the proposed manipulator and the PUMA manipulator has been carried out. The manipulability index of both manipulators has been calculated to show the effectiveness of the proposed method. Experiments have been conducted on three links manipulator.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: Geometrical kethod; Inverse kinematics; Redundant manipulator; Three dimensional manipulators; Avoiding singularity; Geometrical kethod; Geometrical methods; Hyper-redundant manipulator; Inverse kinematic problems; Manipulability; Three links manipulator; Redundant manipulators; Three dimensional; Inverse kinematics
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Divisions: Faculty of Engineering
Depositing User: Ms. Norhamizah Tamizi
Date Deposited: 21 Mar 2014 02:38
Last Modified: 23 Nov 2017 02:21
URI: http://eprints.um.edu.my/id/eprint/9678

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