Solution for Inverse Kinematics of 5 DOF Serial Link MCM Machine

Piotr Kozioł; Kamil Kukliński; Adam Wolniakowski; Konstanty Miatliuk

doi:10.4028/www.scientific.net/SSP.198.53

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HomeSolid State PhenomenaSolid State Phenomena Vol. 198Solution for Inverse Kinematics of 5 DOF Serial...

Solution for Inverse Kinematics of 5 DOF Serial Link MCM Machine

Abstract:

The paper presents the forward and inverse kinematics problems solution for 5 DoF automated serial link MCM cutting and welding machine. Particularly, the solution was developed for specific application to be implemented in industry. The developing of the mathematical model for control purposes, implementing algorithms for trajectory finding and mathematical model for forward and inverse kinematics solution are described in the work. The solution is presented as simulation in RobWork Studio software [, as well as a 3D interactive animation implemented in specifically developed software environment. The result of given solution are evaluated and directions of further work concerning the implementation of obtained solution in the actual industrial application are defined.

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Periodical:

Solid State Phenomena (Volume 198)

Pages:

53-58

DOI:

https://doi.org/10.4028/www.scientific.net/SSP.198.53

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Online since:

March 2013

Authors:

Piotr Kozioł, Kamil Kukliński, Adam Wolniakowski, Konstanty Miatliuk

Keywords:

Computerized Numerical Control (CNC), Control, Inverse Kinematic, Robotics, Serial Link

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References

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