Inverse kinematic of European Robotic Arm based on a new geometrical approach

Document Type : Research Article

Authors

Faculty of Mechanical Engineering, Shahrood University of Technology, Shahrood, Iran

10.22060/ajme.2020.17642.5866

Abstract

In this study, inverse kinematics is solved for the European Robotic Arm. This robot is a type of space manipulator and has seven degrees of freedom. Forward and inverse kinematic is obtained by a new geometrical method. The limitations of robot workspace are calculated for robot joints and grippers. A geometrical inverse kinematic is presented for the first time, and the transferring process for various situations is developed to grasp the object at any position and orientation. Considering multiple missions, for robots in the transferring process, there isn’t a unit method to support all the situations and tasks in the inverse kinematic problem. To determine the workspace of robot, its geometry and object situation (orientation and position) are considered. To this end, using the suggested inverse kinematic algorithm, the target coordinate and orientations are obtained. In the presented inverse kinematic algorithm, an analytical method is used to derive the joint space variables in terms of workspace variables. The European Robotic Arm can move step by step from one target point to the next one. So, a general transferring algorithm is presented to realize the robot’s mission. In the presented algorithm, when the target is unreachable by the one-step operation, the transferring mission is utilized by the robot. Some simulation plans, to validate the proposed algorithms, indicate that the presented method works correctly.

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