Title :
Design of geometric-based inverse kinematics for a low cost robotic arm
Author :
Muslim, Muhammad Aziz ; Urfin, Seif Nura
Author_Institution :
Electr. Eng. Dept., Brawijaya Univ., Malang, Indonesia
Abstract :
In order to effectively control end effector of a robotic manipulator, one needs to solve inverse kinematics of the robot. This paper reports an investigation to solve inverse kinematics of a low cost 6 degrees of freedom (6 DOF) robotic arm. Since this robot provide no feedback signal, we propose to use a simple geometric-based inverse kinematics. Experimental results show the effectiveness of the proposed method, while the accuracy is still acceptable to some extent.
Keywords :
design engineering; end effectors; geometry; manipulator kinematics; design; end effector; geometric-based inverse kinematics; low cost robotic arm; robotic manipulators; End effectors; Equations; Joining processes; Kinematics; Robot kinematics; Servomotors; geometric-based inverse kinematics; low cost 6 DOF robotic arm;
Conference_Titel :
Electrical Power, Electronics, Communications, Controls and Informatics Seminar (EECCIS), 2014
Conference_Location :
Malang
Print_ISBN :
978-1-4799-6946-3
DOI :
10.1109/EECCIS.2014.7003724
