Title :
The Global Inverse Kinematics Solution in the Adept Six 300 Manipulator with Singularities Robustness
Author :
Legowski, Adrian
Author_Institution :
Inst. of Autom. Control, Silesian Univ. of Technol., Gliwice, Poland
Abstract :
In this paper the solutions both the forward and inverse kinematics problems for Adept Six 300 6R robot are presented. A matrix method was used in computations. Algorithm based on the derived formulas and logical conditions has been implemented in Adept Smart Controller Cx. Comparison between manufacturer and proposed algorithm is presented. Result of this operation has been shown on figures presenting the manipulator´s smooth passage through singular points.
Keywords :
manipulator dynamics; manipulator kinematics; matrix algebra; robust control; Adept Six 300 6R manipulator; inverse kinematics solution; matrix method; singularities robustness; Algorithm design and analysis; Approximation algorithms; Joints; Kinematics; Manipulators; Service robots; Denavit-Hartenberg convention; forward kinematics; inverse kinematics; manipulator; optimization; robot; trajectory generation;
Conference_Titel :
Control Systems and Computer Science (CSCS), 2015 20th International Conference on
Conference_Location :
Bucharest
Print_ISBN :
978-1-4799-1779-2
DOI :
10.1109/CSCS.2015.62
