DocumentCode
726857
Title
The Global Inverse Kinematics Solution in the Adept Six 300 Manipulator with Singularities Robustness
Author
Legowski, Adrian
Author_Institution
Inst. of Autom. Control, Silesian Univ. of Technol., Gliwice, Poland
fYear
2015
fDate
27-29 May 2015
Firstpage
90
Lastpage
97
Abstract
In this paper the solutions both the forward and inverse kinematics problems for Adept Six 300 6R robot are presented. A matrix method was used in computations. Algorithm based on the derived formulas and logical conditions has been implemented in Adept Smart Controller Cx. Comparison between manufacturer and proposed algorithm is presented. Result of this operation has been shown on figures presenting the manipulator´s smooth passage through singular points.
Keywords
manipulator dynamics; manipulator kinematics; matrix algebra; robust control; Adept Six 300 6R manipulator; inverse kinematics solution; matrix method; singularities robustness; Algorithm design and analysis; Approximation algorithms; Joints; Kinematics; Manipulators; Service robots; Denavit-Hartenberg convention; forward kinematics; inverse kinematics; manipulator; optimization; robot; trajectory generation;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Systems and Computer Science (CSCS), 2015 20th International Conference on
Conference_Location
Bucharest
Print_ISBN
978-1-4799-1779-2
Type
conf
DOI
10.1109/CSCS.2015.62
Filename
7168414
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