This work presents a methodology to solve the inverse kinematic problem for any kind of robot arm using optimization algorithms. Forward kinematic is usually a straightforward analysis for any robot while inverse kinematic is hard to be solved for many cases. Thus, depending on a set of the forward kinematic equation, the objective function can be formulated to be minimized to find the inverse position. This methodology makes the inverse kinematic very simple operation for all types of the robot, even for those who are complicated with a high degree of freedom. A particle example of 5DOF revolute joint arm was used to present this methodology with source code written in MATLAB for the objective function. Dynamic differential optimization algorithm DDAO was used to minimize the objective. DDAO has promising usage for embedded systems when prototyping a controller that estimates the inverse kinematic as per user request.
Optimization Algorithms for Inverse Kinematics of Robots with MATLAB Source Code
Lect.Notes Mechanical Engineering
Vehicle and Automotive Engineering ; 2020 ; Miskolc, Hungary November 25, 2020 - November 26, 2020
2020-10-20
10 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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