Inverse Kinematics at the Anthropomorphic Robots, by a Trigonometric Method

Abstract

Abstract:A robot is a machine especially programmable one through a computer capable of performing a complex series of actions in the automatic mode. Robots may be guided by a control device or external control may be incorporated in the inside. Robots can be built to take human form, but most robots are machines designed to perform a task without taking into account the manner in which it looks. The branch of the technology which is concerned with the design, construction, operation and application of robots, as well as other information systems for their control, the feedback of the touch screen and processing information is quite robotic. These technologies do with automatic machine, which may take the place of the people in hazardous environments or manufacturing processes, or looks like people in appearance, behavior and/or cognitive. Many of the robots of today are inspired by nature which contributes to the field of robotics bio-inspired by it. These robots have created a new branch of robotic (robotic soft). From the time of the ancient civilization there have been many accounts of devices user-configurable automatic and even similar to automatic and people, intended primarily as entertainment. As the mechanical techniques developed by the era of industrial, there were several practical applications, such as automatic machine, remote control and wireless remote control included. Anthropomorphic robots have in their component a plane structure 2R, which is a basic structure. In the reverse (inverse) kinematic, are known the kinematic parameters x M and y M , which represents the co-ordinates of scaling point M (endeffector M) and must be determined by analytical calculation the parameters ϕ 20 and ϕ 30 . First, it determines the intermediary parameters, d and φ with relations (1). For the purpose of determining angles can be used various methods (trigonometric, geometric, etc.), of which will be presented below one of them (as the most representative): A trigonometric method.

Control cinemático para el seguimiento de trayectorias de un manipulador 3R

“…Para calcular las variables articulares presentes en el Jacobiano (4), es necesaria la trayectoria deseada y la cinemática inversa (Petrescu et al, 2017). A partir de la Figura 2 y la Figura 3, realizando un análisis trigonométrico, es posible determinar los ángulos de las articulaciones.…”

Perancangan Dan Pengendalian Manipulator Robot 4-Dof Dengan Gripper Berbasis Inverse Kinematics Dan Trajectory Planning Dengan Ros

“…Perhitungan posisi dan orientasi dari sebuah end effector melalui variabel sudut disebut sebagai forward kinematics. Dengan mengetahui konfigurasi kinematika robot inverse kinematics dapat dihitung menggunakan trigonometri [10]. Dari Gambar 2 didapatkan perhitungan invers kinematics robot 4 DOF sebagaimana terlihat pada persamaan 1 hingga persamaan 4.…”