Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Robot Manipulators: Mathematics, Programming, and Control
Robot Manipulators: Mathematics, Programming, and Control
The basic component of computational intelligence for KUKA KR c3 robot
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part I
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In this paper an essential component of the future of computer intelligence of the manipulator is presented. This component is the solution algorithm of inverse kinematics problem for AX-12 Robotic Arm with four degree of freedom (DOF) manipulator. This algorithm will be implemented into the controller of these manipulators and it will allow to control these manipulators by using the vision information, which specifies required location of the end-effector. This required location makes it possible for the end-effector to approach a manipulation object (observed by cameras) and pick it up, without the necessity of preliminary leading the manipulator to the object. Currently, the information obtained from the camera is sending via Internet to the user. User is remote controlling via the Internet the movement of manipulator, by means of joystick. These manipulators have are five links joined by revolute joint. First the location of end-effector in relation to the base of the manipulator was described. Next the analytical formulas for joint variables (dependent on these location) were presented. These formulas have take in account the multiple solutions for singular configurations of these manipulators.