Quasi-Serial Manipulator - Inverse Kinematics and Workspace Analysis for Industrial Automation

被引：0
|
作者：
Kelly, Bryan [1 ]
Padayachee, J. [1 ]
Bright, G. [1 ]
机构：
[1] Univ KwaZulu Natal, Discipline Klechan Engn, King George V Ave, Durban, South Africa
来源：
2020 INTERNATIONAL SAUPEC/ROBMECH/PRASA CONFERENCE | 2020年
关键词：
Serial; SKM; Parallel; PKM; Hybrid; HKM; Quasi-Serial; Closed Loop Parallelogram; Inverse Kinematics; IK; Geometric; Vector; Workspace; Monte Carlo Sampling; Collaboration; Arduino; MATLAB; ROBOT;
D O I：
10.1109/saupec/robmech/prasa48453.2020.9041102
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
Industrial automation, especially within the manufacturing environment, is reliant on accurate control of robotic manipulators; for this reason, Inverse Kinematic (IK) control is desired. This paper outlines some key differences between forward and inverse kinematic control, and the derivation complexity of such, for Serial Kinematic Manipulators (SKM's) versus Parallel Kinematic Manipulators (PKM's). The IK of a single quasiserial manipulator was derived, and subsequently validated using the physical model and an Arduino script. The workspace of this same mechanism was determined via an empirical method, and compared to an analytically derived workspace using MATLAB. Finally, a two -quasi-serial PKM was proposed and described.
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页数：6
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