Another Approach for Redundancy Resolution of a 7 DOF Robotic Arm

Mihai Crenganis; Octavian Bologa

doi:10.4028/www.scientific.net/AMM.762.305

Paper Titles

Vibration Analysis on the Structure of the Robot Yamaha YK 400
p.261

Kinematic Study of Industrial Robots
p.267

Calculating Angles of Rotation of the Robots Elements for Given Position and Orientation Depending on the Gripping Device
p.271

Synthetic Representation of the Robotic Assembly
p.277

Increasing the Efficiency of Robotic Manufacturing Systems by Layout Optimization
p.283

Winding of Carbon Wire Composite Structures Using Two Cooperative Industrial Robots
p.291

Intelligent Sensing and Motion Control in Robotic Manufacturing Systems
p.299

Another Approach for Redundancy Resolution of a 7 DOF Robotic Arm
p.305

Using Serial Industrial Robots and CAM Techniques for Manufacturing Prosthetic Devices
p.313

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 762Another Approach for Redundancy Resolution of a 7...

Another Approach for Redundancy Resolution of a 7 DOF Robotic Arm

Abstract:

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.

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Periodical:

Applied Mechanics and Materials (Volume 762)

Pages:

305-311

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.762.305

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Online since:

May 2015

Authors:

Mihai Crenganis*, Octavian Bologa

Keywords:

7 DOF, Inverse Kinematics Solutions, Redundancy Circle

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