Inverse kinematic solution of 6-DOF industrial robot using nero-fuzzy technology

Dash, Kshitish K.; Choudhury, B. B.; Senapati, S. K.

doi:10.1504/ijcsyse.2019.103649

Cited by 4 publications

(1 citation statement)

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“…The algebraic strategy includes Jacobian, Grobner bases, the product of exponential [6], analytical inverse kinematics [7][8], conformal geometric algebra [9], and generalised analytical methods [10]. In the iterative approach, several strategies have been proposed, such as Artificial Neural Network [11] [12], iterative algorithm [13], genetics algorithm, ANFIS, Fuzzy Logic, evolution algorithm (EA) [14] [15], and iterative algorithm [16] [17]. The geometric approach offers a simpler calculation such as repetitive basic inverse kinematics of a two-link [18], the angular deflection of the upper platform concerning the lower platform [19], a non-iterative geometric approach for inverse kinematics [20], and a modified modal method [21] [22].…”

Section: Introductionmentioning

confidence: 99%

Axis manipulation to solve Inverse Kinematics of Hyper-Redundant Robot in 3D Space

Winston

Jamali

2022

JIAE

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A solution based on inverse kinematics is required for the robot's end effector, also known as its tip, to reach a target. Current methods for solving the inverse kinematics solution for a hyper-redundant robot in three 3D are generally complex, difficult to visualize, and time-intensive. This requires the development of new algorithms for solving inverse kinematics in a quicker and more efficient manner. In this study, an axis manipulation using a geometrical approach is used. Initially, a general algorithm for a 2 m-link hyper-redundant robot in 3D is generated. The method employed a repetitive basic inverse kinematics solution of a two-link robot on virtual links. The virtual links are generated using a specific geometric proposition. Finally, the 3D solution is generated by rotating about the global z-axis. This method reduces the mathematical complexity required to solve the inverse kinematics solution for a 2-m-link robot. In addition, this method can manage variable link manipulators, thereby eliminating singularity. To demonstrate the effectiveness of the model, numerical simulations of hyper redundant models in 3D are presented. This new geometric approach is anticipated to enhance the performance of hyper-redundant robots, enabling them to be of greater assistance in fields such as medicine, the military, and search and rescue.

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Section: Introductionmentioning

confidence: 99%

Axis manipulation to solve Inverse Kinematics of Hyper-Redundant Robot in 3D Space

Winston

Jamali

2022

JIAE

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Control of Robotic Manipulator Using Optimized Neural Networks

Cherfouh,

Gu,

Farooq

et al. 2023

Advances in Intelligent Systems and Computing

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Simulation, analysis and characterization of solid microneedles for biomedical applications

Tariq

Ashraf

Tayyaba

2022

IFS

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The uniformly smooth and sharp microneedles have great significance in contact spectroscopy, 3D printing, biomedical and nanotechnology. The stability, bio-stability, conductivity and mechanical properties of the gold (Au) make it effective rather than the other metals such as tungsten, copper, platinum and graphite. The surface quality, proper dimension such as the tip, cone angle is the matter of the trial and practice matter. It was the main issue to develop a controlled optimized methodology to obtain the gold needles of specific dimensions in regular and systematic way. The Ansys simulation of solid microneedle has been done to check on what stress the deflection occurs on microneedles. Then fuzzy optimization has performed to optimize the parameter of the etching set up such as the voltage, current and time of etching as an input parameter and the tip size and the conical section length as the output parameters. After the simulation and optimization the experiment of the etching has performed with the 3M solution of NaCl in deionized water and small amount of hydropercaloric acid. The fabricated needles have been then characterized by Scanning electron microscopy (SEM) to observe the morphology and the dimensions. The fuzzy analysis has been performed for optimization of the inputs voltage of range 1–10volt, current of range 1–100 mA and etching times from 1–15minutes. These optimized values are calculated by the fuzzy analysis such as the voltage is 58.6 mA, etching time 15 minutes and the voltages found to be 10 volt. Fuzzy analysis gives the simulated size of the tip 10.6μm and Mamdani models gives the 10.7μm which have the 0.01% error and the cone length for the Mamdani was found to be 500μm and the simulated values 497 having the 0.03% error which have very close approximation with the experimental values from the SEM micrographs that which also gives the values of the cone length from 400–500μm and the tip size from 10-20μm for the time 10-15minute whose values was optimized by the fuzzy analysis.

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Inverse kinematic solution of 6-DOF industrial robot using nero-fuzzy technology

Cited by 4 publications

References 0 publications

Axis manipulation to solve Inverse Kinematics of Hyper-Redundant Robot in 3D Space

Axis manipulation to solve Inverse Kinematics of Hyper-Redundant Robot in 3D Space

Control of Robotic Manipulator Using Optimized Neural Networks

Simulation, analysis and characterization of solid microneedles for biomedical applications

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