A Simulation Tool for Kinematics Analysis of a Serial Robot

Kütük, M. Erkan; Dülger, L. Canan; Das, Manabendra

doi:10.1007/978-3-030-22365-6_59

Cited by 1 publication

(3 citation statements)

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“…Dealing with the robot's mechanical structure in any way (modeling, simulation, etc.) requires solving the problem of kinematics [3].…”

Section: Introductionmentioning

confidence: 99%

“…In forward kinematics, the position of the end-effector can be expressed as a function of the joint positions [1,2,4] which is simple and straightforward. On the other hand, the inverse kinematics [5] is concerned with finding the joints' positions for a specified end effector position [3]. The inverse kinematics problem is complex due to the nonlinearity and uncertainty of the mapping equations that maps the joint space to the Cartesian space.…”

Section: Introductionmentioning

confidence: 99%

“…The inverse kinematics problem is complex due to the nonlinearity and uncertainty of the mapping equations that maps the joint space to the Cartesian space. Furthermore, the solution of the inverse kinematics problem may not exist or may have multiple possibilities [3]. It becomes a must to consider the inverse kinematics when coming to deal with certain type of tasks in cluttered environments where robotic manipulators with few DOF are unable to operate [6].…”

Section: Introductionmentioning

confidence: 99%

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An Adaptive Second Order Sliding Mode Inverse Kinematics Approach for Serial Kinematic Chain Robot Manipulators

2020

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The problem of inverse kinematics is essential to consider while dealing with the robot’s mechanical structure in almost all applications. Since the solution of the inverse kinematics problem is very complex, many research efforts have been working towards getting the approximate solution of this problem. However, for some applications, working with the approximate robot’s model is neither sufficient nor efficient. In this paper, an adaptive inverse kinematics methodology is developed to solve the inverse kinematics problem in such a way that compensate for unknown uncertainty in the Jacobian matrix of the serial kinematic chain robot manipulators. The proposed methodology is based on continuous second order sliding mode strategy (CSOSM-AIK). The salient advantage of the CSOSM-AIK approach is that it does not require the availability of the kinematics model or Jacobian matrix of the robot manipulators from joint space variables to Cartesian space variables. The global stability of the closed-loop system with CSOSM-AIK methodology is proven using the Lyapunov theorem. In order to demonstrate the robustness and effectiveness of the proposed methodology, some simulations are conducted.

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“…Dealing with the robot's mechanical structure in any way (modeling, simulation, etc.) requires solving the problem of kinematics [3].…”

Section: Introductionmentioning

confidence: 99%