Open AccessInverse Kinematics
Author(s) -
Joel Sereno
Publication year - 2013
Publication title -
undergraduate journal of mathematical modeling
Language(s) - English
Resource type - Journals
ISSN - 2326-3652
DOI - 10.5038/2326-3652.3.1.18
Subject(s) - inverse kinematics , kinematics , cartesian coordinate system , robot end effector , inverse , orientation (vector space) , point (geometry) , kinematics equations , process (computing) , robot , mathematics , joint (building) , computer science , robot kinematics , geometry , engineering , artificial intelligence , physics , structural engineering , classical mechanics , mobile robot , operating system
Inverse kinematics is the process of converting a Cartesian point in space into a set of joint angles to more efficiently move the end effector of a robot to a desired orientation. This project investigates the inverse kinematics of a robotic hand with fingers under various scenarios. Assuming the parameters of a provided robot, a general equation for the end effector point was calculated and used to plot the region of space that it can reach. Further, the benefits obtained from the addition of a prismatic joint versus an extra variable angle joint were considered. The results confirmed that having more movable parts, such as prismatic points and changing angles, increases the effective reach of a robotic hand