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Inverse Kinematics, Cyclic Coordinate Descent, Serial Chain Robot.

ABSTRACT

Inverse kinematics of mechanic system is area of solution at many universities and scientific research institutions. This paper dealt with of solution problem of inverse kinematic by a cyclic coordinate descent method (CCD). This method allows use n-link chain mechanism without complicated changing of control algorithm. The article is focuses on the issue of setting the number of elements and also presents a modified method the incremental CCD, which is compared with this method.

CITATION INFORMATION

Acta Mechanica Slovaca. Volume 15, Issue 3, Pages 62 – 67, ISSN 1335-2393

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  Cyclic Calculation of Inverse Kinematics for n-link Serial Mechanism

REFERENCES

[1] Wang, T. Li-Ch., Chen, Ch. Ch.: A combined optimization method for solving the inverse kinematics problem of mechanical manipulators, Transactions on robotics and automation, vol. 7, no. 4, 1991, URL: < http://www.cse.ohiostate.edu/~parent/classes/788/Sp06/ReferenceMaterial/IK/WC91.pdf>

[2] Mukundan, R., A fast inverse kinematics solution for an n-link joint chain, 5th International Conference on Information Technology and Applications (ICITA 2008), URL: < http://ir.canterbury.ac.nz/bitstream/10092/1555/1/12610087_ICITA08.pdf >
[3] Mostýn, V.- Skařupa, J. Teorie průmyslových robotů. 1. vydání, Košice: Edícia vedeckej a odbornej literatúry – Strojnícka fakulta TU v Košiciach, Vienala Košice, 2000, 150 str.; ISBN 80-88922-35-6;
[4] Skařupa,J.-Mostýn,V.: Metody a prostředky návrhu průmyslových a servisních robotů. Vienala Košice, Košice 2002;ISBN 978-80-88922-55-1
[5] Effect of step angle in inverse kinematics of serial chain robot / Zdenko Bobovský, Jezný Jaromír, Darina Hroncová - 2011. - 1 elektronický optický disk (CD-ROM). In: MMaMS
2011: Modelling of Mechanical and Mechatronical Systems: proceedings of the 4th international conference: Herľany, Slovakia, 20. - 22. 9. 2011. - Košice: TU, 2011 S. 22-31. - ISBN 978-80-553-0731-2
[6] Trebuňa, F., Smrček, J., Bobovský, Z.: Kinematics of Self-Reconfigurable Robotics System. In: Acta Mechanica Slovaca. Roč. 14, č. 4 (2010), s. 36-41. - ISSN 1335-2393
[7] Svetlík, J., Demeč, P.: Curved rotary module for modular construction of motion structures. In: Acta Mechanica Slovaca. Roč. 15, č.1 (2011), s. 44-49. - ISSN 1335-2393
[8] Polybot G3 photo [online] 2006 [cit. 2008-10-10] Available at: <http://upload.wikimedia.org/wikipedia/commons/3/30/G3dock.jpg>ricity problems by meshless methods, Acta Mechanica Slovaca, Vol. 14, No. 4, 2010, p.16-27.
[9] Chen, Y., Lee, J.D., Eskandrian, A., Meshless Methods in Solid Mechanics, SpringerScience+Business media, Inc., 2006.
[10] Liu Y., A new fast multipole boundary element method for solving large-scale two dimensional elastostatic problems. Int. J. Num. Meth. Engng., vol.65, p. 863-881.
[11] Liu Y., Fast Multipole Boundary Element Method, Theory and Applications in Engineering, Cambrige University Press, 2009.
[12] Timoshenko S.P, Goodier J.N. Theory of Elasticity (3rd edn), McGraw-Hill: New York, 1987.

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