Engineering and Technology Journal

Kinematics Analysis of 5 DOF Robotic Arm

Tahseen F. Abaas; Ali A. Khleif; Mohanad Q. Abbood

Volume 38, 3A , March 2020, , Page 412-422

https://doi.org/10.30684/etj.v38i3A.475

Abstract

This paper presents the forward, inverse, and velocity kinematics analysis of a 5 DOF robotic arm. The Denavit-Hartenberg (DH) parameters are used to determination of the forward kinematics ... Read More ...

Enhanced Solution of Inverse Kinematics for Redundant Robot Manipulator Using PSO

Hind Z. Khaleel

Volume 37, 7A , July 2019, , Page 241-247

https://doi.org/10.30684/etj.37.7A.4

Abstract

Kinematics of the robot is divided into two parts: the forwardkinematics, which evaluates the end-effector’s position from joint angles, and theinverse kinematics, which demonstrates ... Read More ... Kinematics of the robot is divided into two parts: the forwardkinematics, which evaluates the end-effector’s position from joint angles, and theinverse kinematics, which demonstrates the joint angles from the end-effector'sposition. The solution of the inverse kinematics problem is too difficult andcomplicated for the redundant robot arm manipulator. A Particle SwarmOptimization (PSO) algorithm is an effective method to solve global optimizationproblems. This paper presents the solution of inverse kinematics problem of athree-link redundant manipulator robot arm using PSO without using the inversekinematics equations. The circle, square and triangle generated trajectories usingPSO are enhanced as compared with the trajectories of other works. Theenhanced PSO algorithm is successfully found the best generating three jointangles and the best generating end-effector's position of a three-link robot arm.Then according to these joints and positions the circle, square and triangle pathtrajectories, results are smoother than the path trajectories of other work. Thisenhanced solution of inverse kinematics using PSO algorithm is too fast due tothe short elapsed time in every iteration of trajectory. Besides that, thesevelocities results have been given evaluated and give an indication that the threelink robot is moving fast during the PSO algorithm. The elapsed time of circletrajectory equals to 20.903981 seconds, the elapsed time of square trajectoryequals to 11.747171 seconds and the elapsed time of triangle trajectory equals to15.729663 seconds. MATLAB R2015b program is used in order to simulate allresults. The main benefit of this work is to solve two problems: 1) inversekinematics is too complex equations of the three-link robot. The solutions of bestjoint angles using PSO are computed within joint limits without using inversekinematics equations. 2) Another problem, this work is enhanced threetrajectories with respect to the best joint angles and reaches 96% percent ascompared with another work. The error is too small according to the start andgoal PSO generated points for each trajectory.

Inverse Kinematics Analysis Using Close Form Solution Method for 5 DOF Robot Manipulate

Alaa Hassan Shabeeb; Laith A. Mohammed

Volume 33, 9A , December 2015, , Page 2094-2106

https://doi.org/10.30684/etj.2015.116229

Abstract

This work proposes a close form solution algorithm to solve the inverse kinematics for a five degree of freedom (DOF) robot manipulator, close form solution is preferable to numerical ... Read More ...

Kinematics Analysis of 5250 Lab-Volt 5-DOF Robot Arm

Wathik Isaa Mahdi AL-Tameemi; Wael Mohammed Hasan Hadi

Volume 32, Issue 9 , September 2014, , Page 2196-2204

https://doi.org/10.30684/etj.32.9A8

Abstract

This paper presents for the first time a complete kinematic analysis of 5250 Lab-Volt 5-Dof robot which include both forward kinematics and inverse kinematics for this robot arm. The ... Read More ...

Singularity Analysis of Parallel Robot with Six Degrees-Of-Freedom of Six Legs

Hassan M. Alwan; Hayder Sabah Ahmed

Volume 32, Issue 4 , May 2014, , Page 960-972

https://doi.org/10.30684/etj.32.4A.12

Abstract

This paper suggests a mathematical solution to parallel manipulator with six degrees of freedom and follows the movement on a specific track to evaluate the singularity position. Mathematical ... Read More ...

Inverse Kinematics-Based Trajectory Generation For Robot-Assisted 3D Surface Machining

Wissam K. Hamdan Sarraji

Volume 28, Issue 9 , April 2010, , Page 1735-1746

https://doi.org/10.30684/etj.28.9.4

Abstract

Machining and tracking of 3D surfaces using industrial robot is not a newmethod, but the new in this paper is the use of simple trigonometric relations inthe calculations of robots ... Read More ...

Keywords = inverse kinematics

Kinematics Analysis of 5 DOF Robotic Arm

Abstract

Enhanced Solution of Inverse Kinematics for Redundant Robot Manipulator Using PSO

Abstract

Inverse Kinematics Analysis Using Close Form Solution Method for 5 DOF Robot Manipulate

Abstract

Kinematics Analysis of 5250 Lab-Volt 5-DOF Robot Arm

Abstract

Singularity Analysis of Parallel Robot with Six Degrees-Of-Freedom of Six Legs

Abstract

Inverse Kinematics-Based Trajectory Generation For Robot-Assisted 3D Surface Machining

Abstract