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Analytical Inverse kinematics Algorithm Of A 5-DOF Robot Arm | ||
| Journal of College of Education for Pure Science | ||
| Article 1, Volume 1, Issue 4, 2011, Pages 92-104 | ||
| Author | ||
| Mustafa Jabbar Hayawi | ||
| Abstract | ||
| The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. Both forward and inverse kinematics solutions for the TR 4000 educational robot arm are presented. The closed form solution of the inverse kinematics problem is of utmost importance in controlling robotic manipulator. In this paper, a closed form solution to the inverse kinematics of a 5-DOF robot is presented to overcome the relatively slow iterative numerical solution. A software program developed to compute the forward and inverse kinematics of TR4000 robot arm.Inverse velocity problem for five axis robots is investigated. The conventional method for a five axis robot is to pseudo inverse the 6x5 Jacobian matrix. Pseudo inverse of the Jacobian matrix provides a possibility to solve for approximate solutions. The spherical angles solution is provided to derive a 5x5 Jacobian matrix.Keywords: forward kinematics, inverse kinematics, inverse velocity, Jacobian matrix. | ||
| Keywords | ||
| KEYWORDS; Inverse Kinematics; inverse velocity; Jacobian matrix | ||
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