Inverse Kinematics of Redundant Manipulator using Interval Newton Method | Zendy

Virendra Kumar | Zendy; Soumen Sen | Zendy; Shibendu Shekhar Roy | Zendy; S Das | Zendy; Sankar Nath Shome | Zendy

AI Assistant Blog Pricing

Home ZAIA Blog

Open Access

Inverse Kinematics of Redundant Manipulator using Interval Newton Method

Author(s) -

Virendra Kumar,

Soumen Sen,

Shibendu Shekhar Roy,

S Das,

Sankar Nath Shome

Publication year - 2015

Publication title -

international journal of engineering and manufacturing

Language(s) - English

Resource type - Journals

eISSN - 2306-5982

pISSN - 2305-3631

DOI - 10.5815/ijem.2015.02.03

Subject(s) - jacobian matrix and determinant , inverse kinematics , kinematics , moore–penrose pseudoinverse , control theory (sociology) , serial manipulator , nonlinear system , inverse , mathematics , robot end effector , kinematics equations , redundancy (engineering) , forward kinematics , planar , computer science , parallel manipulator , robot kinematics , artificial intelligence , robot , geometry , physics , control (management) , classical mechanics , quantum mechanics , computer graphics (images) , mobile robot , operating system

The paper presents an application of Interval Newton method to solve the inverse kinematics and redundancy resolution of a serial redundant manipulator. Such inverse problems are often encountered when the manipulator link lengths, joint angles and end-effector uncertainty bounds are given, which occurs due to because of inaccuracies in joint angle measurements, manufacturing tolerances, link geometries approximations, etc. The inverse kinematics of three degree of freedom planar redundant positioning manipulator without endeffector has been evaluated using the manipulability of Jacobian matrix as performance metric. To solve the nonlinear equation of inverse kinematics, the multidimensional Newton method is used. The inverse kinematics is intended to produce solutions for joint variables in interval of tolerances for specified end effector accuracy range. As exemplar problem solving, a planar 3-degrees-of-freedom serial link redundant manipulators is considered.

The content you want is available to Zendy users.

Already have an account? Click here to sign in.

Having issues? You can contact us here

Accelerating Research