Solution of The Inverse Kinematic Task of A Robot-Arm Based on A Quasi-Differential Fixed-Point Transformation Method

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Abstract

While the forward kinematic task of robots can be solved easily through homogenous transformation matrices, the inverse kinematic task leads to difficulties as the construction of the system becomes more complex. In this paper, a solution has been worked out for a three Degree-of-Freedom (DOF) robot-arm based on recent research, by the use of a novel, fixed-point transformation based technique.

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  • [1] B. Csanádi J. K. Tar J. F. Bitó: Matrix inversion-free quasi-differential approach in solving the inverse kinematic task. In Proc. of the 17th IEEE International Symposium on Computational Intelligence and Informatics (CINTI 2016) November 17-19 2016 Budapest Hungary 61–66.

  • [2] A. Dineva J. K. Tar A. Várkonyi-Kóczy V. Piuri: Adaptive control of underactuated mechanical systems using improved “Sigmoid Generated Fixed Point Transformation” and scheduling strategy. In Proc. of the 14th IEEE International Symposium on Applied Machine Intelligence and Informatics January 21-23 2016 Herlany Slovakia 193–197.

  • [3] T. Faitli: Robotkar dinamikai szabályozásának szimulációs összehasonlító vizsgálata “Fixpont transzformációs adaptív” ́s “Fixpont transzformáción alapuló modell referenciás adaptív (MRAC)” szabályozóval ÓE-BGK Kari TDK Conference November 15 2017 Budapest Hungary.

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