Inverse Kinematics for a 7 DOF Robotic Arm Using the Redundancy Circle and ANFIS Models

Inverse Kinematics for a 7 DOF Robotic Arm Using the Redundancy Circle and ANFIS 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, ANFIS implementation and Simulink models. For better visualization of the kinematics simulation a CAD...

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Veröffentlicht in:Applied Mechanics and Materials 2014-10, Vol.657 (Engineering Solutions and Technologies in Manufacturing), p.823-828
Hauptverfasser: Crenganis, Mihai, Bologa, Octavian, Breaz, Radu Eugen, Racz, Sever Gabriel
Format: Artikel
Sprache:eng
Schlagworte:
Computer simulation
Degrees of freedom
Inverse kinematics
Kinematics
Mathematical analysis
Mathematical models
Redundant
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, ANFIS 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.657.823