DocumentCode :
2172897
Title :
A Complete Closed-Form Solution to the Inverse Kinematics Problem for the P2Arm Manipulator Robot
Author :
Ramírez-Torres, José Gabriel ; Toscano-Pulido, Gregorio ; Ramírez-Saldívar, Apolinar ; Hernández-Ramírez, Arturo
Author_Institution :
Lab. de Tecnol. de Informacion, CINVESTAV-Tamaulipas, Ciudad Victoria, Mexico
fYear :
2010
fDate :
Sept. 28 2010-Oct. 1 2010
Firstpage :
372
Lastpage :
377
Abstract :
In this paper, we propose a complete closed-form solution to the inverse kinematics problem for a 5-dof manipulator robot, where the existence conditions for all the possible solutions are clearly established and the "singular configurations" where infinite solutions exist are identified. We define a "desired configuration" for the final effector as the position for the center of the gripper and the direction of the gripper\´s main axis. This choice seems natural for robots mainly devoted to assembling tasks, even if the rotation around this main axis cannot be freely set. Under these conditions, a straight-forward method in order to obtain all the different exact solutions is also presented.
Keywords :
end effectors; grippers; manipulator kinematics; 5-dof manipulator robot; P2Arm manipulator robot; complete closed-form solution; desired configuration; effector; gripper; inverse kinematics problem; singular configurations; Equations; Grippers; Joints; Kinematics; Manipulators; Robot kinematics; Inverse kinematics; manipulator robot; robot control; robot modeling;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Electronics, Robotics and Automotive Mechanics Conference (CERMA), 2010
Conference_Location :
Morelos
Print_ISBN :
978-1-4244-8149-1
Type :
conf
DOI :
10.1109/CERMA.2010.50
Filename :
5692365
Link To Document :
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