There are numerous methods for solving the inverse kinematic equations for a robotic arm. This paper proposes a novel, adaptive approach based on multiagent systems (MASs). An MAS employs a distributed, decentralized approach to problem solving that is not commonly employed in conventional robotic arm control. The MAS uses patterns abstracted from various configurations of the robotic arm to provide a means of solving inverse kinematic equations where there is a changing kinematic model. Such an approach is beneficial in applications such as the maintenance of power transmission lines, welding, and providing support to handicapped people. The method is demonstrated using a case study utilizing a sixdegree-of-freedom Kawasaki FS02 industrial robotic arm. The results from the case study demonstrate a solution for 95 per cent of all attainable Cartesian coordinates.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.