Kinematic Solutions of a 7 DOF Robotic Arm Using Redundancy Circle and Fuzzy Models

Kinematic Solutions of a 7 DOF Robotic Arm Using Redundancy Circle and Fuzzy Models

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 2014-06, Vol.555 (Modeling and Optimization of the Aerospace, Robotics, Mechatronics, Machines-Tools, Mechanical Engineering and Human Motricity Fields), p.320-326
Hauptverfasser: Racz, Gabriel, Breaz, Radu, Crenganis, Mihai, Bologa, Octavian
Format: Artikel
Sprache:eng
Schlagworte:
Degrees of freedom
Fuzzy
Fuzzy logic
Fuzzy set theory
Kinematics
Mathematical analysis
Mathematical models
Robotics
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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.555.320