Another Approach for Redundancy Resolution of a 7 DOF Robotic Arm

Another Approach for Redundancy Resolution of a 7 DOF Robotic Arm

In this paper we have presented a method to solve the inverse kinematics problem of a redundant robotic arm with seven degrees of freedom and a human like workspace based on mathematical equations, Fuzzy Logic implementation and Simulink models. For better visualization of the kinematics simulation...

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Veröffentlicht in:Applied Mechanics and Materials 2015-05, Vol.762 (Mechatronics and Robotics), p.305-311
Hauptverfasser: Bologa, Octavian, Crenganis, Mihai
Format: Artikel
Sprache:eng
Schlagworte:
Computer aided design
Computer simulation
Degrees of freedom
Fuzzy logic
Human
Kinematics
Mathematical analysis
Mathematical models
Robotics
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Beschreibung
Zusammenfassung:In this paper we have presented a method to solve the inverse kinematics problem of a redundant robotic arm with seven degrees of freedom and a human like workspace based on mathematical equations, Fuzzy Logic implementation and Simulink models. For better visualization of the kinematics simulation a CAD model that mimics the real robotic arm was created into SolidWorks® and then the CAD parts were converted into SimMechanics model.
ISSN:1660-9336
1662-7482
1662-7482
DOI:10.4028/www.scientific.net/AMM.762.305