Title :
Simulation of manipulator positioning methodology using inverse kinematics
Author :
Hock, Ondrej ; Drgona, Peter ; Frivaldsky, Michal ; Havrila, Rastislav
Author_Institution :
Dept. of Mechatron. & Electron., Univ. of Zilina, Zilina, Slovakia
Abstract :
This paper deals with simulation model of manipulator arm. Main objective of simulation is verification of methodology for manipulator positioning according to predefined trajectory. Methodology used in simulation is based on iteration method, which positions the endpoint of manipulator arm to reference coordinates.
Keywords :
manipulator kinematics; trajectory control; inverse kinematics; manipulator arm; manipulator positioning methodology; predefined trajectory; Computational modeling; Iterative methods; Kinematics; MATLAB; Manipulators; Mathematical model; Robot sensing systems; Adjustable arm; Denavit-Hartenberg parameters; Inverse kinematics; Iterative method; Manipulator; Matlab; SimMechanics toolbox; Simulation;
Conference_Titel :
Electric Power Engineering (EPE), 2015 16th International Scientific Conference on
Conference_Location :
Kouty nad Desnou
DOI :
10.1109/EPE.2015.7161142
