INVERSE KINEMATICS - TOOL FOR ROBOTIC MANIPULATOR CONTROL
Keywords:
Robotic manipulator, MINDSTORM, mathematical modelAbstract
The contribution introduces the mathematical background of control of robotic manipulator. The first part deals with the mathematical model and the inverse kinematics problem. The second part shows the solution in the case study.
Downloads
Download data is not yet available.
References
(1) DOLEŽEL, P., HAVLÍČEK, L., MAREŠ, J. Piecewise-Linear Neural Model for
Helicopter Elevation Control. International Journal of Control Science and Engineering
vol. 2, no. 3. 2012. pp.42-46. ISSN 2168-4952..
(2) DING, J.N., GOLDMAN, R.E., XU, K., ALLEN, P.K., FOWLER, D.L., SIMAAN, N.
Design and Coordination Kinematics of an Insertable Robotic Effectors Platform for
Single-Port Access Surgery IEEE-ASME TRANSACTIONS ON MECHATRONICS. Vol.
18, no. 5. 2013.
(3) TREESATAYAPUN, C. Discrete-time direct adaptive control for robotic systems based
on model-free and if-then rules operation. INTERNATIONAL JOURNAL OF
ADVANCED MANUFACTURING TECHNOLOGY vol. 68 no. 1. 2013
(4) MARTINEZ-PRADO, M., FRANCO-GASCA, A., HERRERA-RUIZ, G., SOTODORNTES,
O. Multi-axis motion controller for robotic applications implemented on an
FPGA. INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING
TECHNOLOGY vol. 67, no. 9. 2013
(5) MAREŠ, J.,GRÁFOVÁ, L., PROCHÁZKA, A. On-line sledování pohybujícího se
předmětu s využitím digitální kamery. Perner's Contact, vol. 6, no 1, april 2011. ISSN
1801-674X.
(6) CRHA, J., MAREŠ, J. Model of Industrial Robotic Manipulator. In proceedings of 10th
International Conference Process Control 2012. Pp. C012b-1 - C021b-5.Pardubice 2012.
ISBN 978-80-7395-500-7.
Helicopter Elevation Control. International Journal of Control Science and Engineering
vol. 2, no. 3. 2012. pp.42-46. ISSN 2168-4952..
(2) DING, J.N., GOLDMAN, R.E., XU, K., ALLEN, P.K., FOWLER, D.L., SIMAAN, N.
Design and Coordination Kinematics of an Insertable Robotic Effectors Platform for
Single-Port Access Surgery IEEE-ASME TRANSACTIONS ON MECHATRONICS. Vol.
18, no. 5. 2013.
(3) TREESATAYAPUN, C. Discrete-time direct adaptive control for robotic systems based
on model-free and if-then rules operation. INTERNATIONAL JOURNAL OF
ADVANCED MANUFACTURING TECHNOLOGY vol. 68 no. 1. 2013
(4) MARTINEZ-PRADO, M., FRANCO-GASCA, A., HERRERA-RUIZ, G., SOTODORNTES,
O. Multi-axis motion controller for robotic applications implemented on an
FPGA. INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING
TECHNOLOGY vol. 67, no. 9. 2013
(5) MAREŠ, J.,GRÁFOVÁ, L., PROCHÁZKA, A. On-line sledování pohybujícího se
předmětu s využitím digitální kamery. Perner's Contact, vol. 6, no 1, april 2011. ISSN
1801-674X.
(6) CRHA, J., MAREŠ, J. Model of Industrial Robotic Manipulator. In proceedings of 10th
International Conference Process Control 2012. Pp. C012b-1 - C021b-5.Pardubice 2012.
ISBN 978-80-7395-500-7.
Downloads
Published
2013-11-01
How to Cite
Crha, J., & Mareš, J. (2013). INVERSE KINEMATICS - TOOL FOR ROBOTIC MANIPULATOR CONTROL. Perner’s Contacts, 8(3), 13–23. Retrieved from https://pernerscontacts.upce.cz/index.php/perner/article/view/742
Issue
Section
Articles
License
Copyright (c) 2020 Jan Crha##common.commaListSeparator##Jan Mareš
This work is licensed under a Creative Commons Attribution 4.0 International License.
