INVERSE AND FORWARD KINEMATICS AND DYNAMICS OF A TWO LINK ROBOT ARM

被引：2

作者：

Hroncova, Darina ^{[1
]}

Sarga, Patrik ^{[1
]}

Sincak, Peter Jan

Merva, Tomas ^{[1
]}

Brada, Leo ^{[1
]}

机构：

[1] Tech Univ Kosice, Fac Mech Engn, Kosice, Slovakia

来源：

MM SCIENCE JOURNAL | 2023年 / 2023卷

关键词：

Robot; trajectory; computer simulation; kinematics; dynamics; forward; inverse; Matlab; Simulink; SYSTEM;

D O I：

10.17973/MMSJ.2023_12_2023067

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper deals with the kinematic and dynamic analysis of a two-element robot model. We have solved the problem using inverse kinematics. The result is the plotted trajectory of the robot's end point along defined points of the robot's workspace. The angular quantities computed are the rotation angle, angular velocity and angular acceleration in each kinematic pair. Furthermore, an inverse dynamics problem is solved. The moments in the kinematic pairs are computed. Subsequently, using the direct dynamics problem, the correctness of the obtained solution is confirmed. The programs designed for the simulation of dynamical systems -Matlab/Simulink and SimMechanics -were used in the solution. The results are presented in the form of graphs and tables.

引用

页码：7085 / 7092

页数：8

共 50 条

[21] Complete Analytical Forward and Inverse Kinematics for the NAO Humanoid Robot
Nikolaos Kofinas
Emmanouil Orfanoudakis
Michail G. Lagoudakis
Journal of Intelligent & Robotic Systems, 2015, 77 : 251 - 264
[22] Forward-inverse Dynamics Analysis of Robot Arm Trajectories and Development of a Nonlinear Friction Model for Robot Joints
Duan S.
Li C.
Han X.
Liu G.
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering, 2020, 56 (09): : 18 - 28
[23] Gaussian process regression for forward and inverse kinematics of a soft robotic arm
Relano, Carlos
Munoz, Javier
Monje, Concepcion A.
ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE, 2023, 126
[24] Designing of Novel Wire-Driven Continuum Robot Arm with Passive Sliding Disc Mechanism: Forward and Inverse Kinematics
Yeshmukhametov, Azamat
Koganezawa, Koichi
Yamamoto, Yoshio
2019 19TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2019), 2019, : 218 - 223
[25] Robot Arm Kinematics
Corke, Peter
Springer Tracts in Advanced Robotics, 2023, 146 : 253 - 305
[26] Closed form inverse kinematics solution for a redundant anthropomorphic robot arm
Pfurner, Martin
COMPUTER AIDED GEOMETRIC DESIGN, 2016, 47 : 163 - 171
[27] Fast Inverse Kinematics Based on Pseudo-Forward Dynamics Computation: Application to Musculoskeletal Inverse Kinematics
Ayusawa, Ko
Murai, Akihiko
Sagawa, Ryusuke
Yoshida, Eiichi
IEEE ROBOTICS AND AUTOMATION LETTERS, 2023, 8 (09) : 5775 - 5782
[28] FORWARD AND INVERSE POSITION KINEMATICS FOR THE RRSSR PARALLEL ROBOT WITH HARDWARE VALIDATION
Williams, Robert L., II
Lucas, Ryan
Zhu, J. Jim
PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2016, VOL 5A, 2016,
[29] Posture Evaluation Based on Forward Kinematics and Inverse Kinematics of Parallel Link Type Machine Tool
Tanaka, Hiroto
Morimoto, Yoshitaka
Hayashi, Akio
Yamaoka, Hidetaka
INTERNATIONAL JOURNAL OF AUTOMATION TECHNOLOGY, 2022, 16 (04) : 497 - 506
[30] Digital Hardware Implementation of the Forward/Inverse Kinematics for a SCARA Robot Manipulator
Chen, Wen-Chuan
Chen, Chin-Sheng
Lee, Feng-Chi
Kung, Ying-Shieh
PROCEEDINGS OF 4TH IEEE INTERNATIONAL CONFERENCE ON APPLIED SYSTEM INNOVATION 2018 ( IEEE ICASI 2018 ), 2018, : 54 - 57

← 1 2 3 4 5 →