Zenodo (CERN European Organization for Nuclear Research) · 2015 · 11 citations · 0 references
EngineeringMechanical EngineeringRobotics EngineeringRobot DesignRobot KinematicsRoboticsDifferential KinematicsForward KinematicsInverse KinematicsKinematicsManipulator DesignRobot ManipulatorsClosed-form Inverse KinematicsInverse Differential KinematicsInverse Kinematics Of Serial ManipulatorsManipulator KinematicsOptimization-based Inverse KinematicsRobot Kinematic DesignRobot Manipulator Design
This paper shows in detail the mathematical model of direct and inverse kinematics for a robot manipulator (welding type) with four degrees of freedom. Using the D-H parameters, screw theory, numerical, geometric and interpolation methods, the theoretical and practical values of the position of robot were determined using an optimized algorithm for inverse kinematics obtaining the values of the particular joints in order to determine the virtual paths in a relatively short time.