A Geometric Approach for Robotic Arm Kinematics with Hardware Design, Electrical Design, and Implementation
This paper presents a geometric approach to solve the unknown joint angles required for the autonomous positioning of a robotic arm. A plethora of complex mathematical processes is reduced using basic trigonometric in the modeling of the robotic arm. This modeling and analysis approach is tested us...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2010-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2010/984823 |
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| _version_ | 1832562800436707328 |
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| author | Kurt E. Clothier Ying Shang |
| author_facet | Kurt E. Clothier Ying Shang |
| author_sort | Kurt E. Clothier |
| collection | DOAJ |
| description | This paper presents a geometric approach to solve the unknown joint angles required for the autonomous positioning of a robotic arm. A plethora of complex mathematical processes is reduced using basic trigonometric in the modeling of the robotic arm. This modeling and analysis approach is tested using a five-degree-of-freedom arm with a gripper style end effector mounted to an iRobot Create mobile platform. The geometric method is easily modifiable for similar robotic system architectures and provides the capability of local autonomy to a system which is very difficult to manually control. |
| format | Article |
| id | doaj-art-424ad01950d94b0e969522c8dfffe9ee |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2010-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-424ad01950d94b0e969522c8dfffe9ee2025-02-03T01:21:45ZengWileyJournal of Robotics1687-96001687-96192010-01-01201010.1155/2010/984823984823A Geometric Approach for Robotic Arm Kinematics with Hardware Design, Electrical Design, and ImplementationKurt E. Clothier0Ying Shang1Department of Electrical & Computer Engineering, Southern Illinois University Edwardsville, Campus Box 1801, Edwardsville, IL 62026, USADepartment of Electrical & Computer Engineering, Southern Illinois University Edwardsville, Campus Box 1801, Edwardsville, IL 62026, USAThis paper presents a geometric approach to solve the unknown joint angles required for the autonomous positioning of a robotic arm. A plethora of complex mathematical processes is reduced using basic trigonometric in the modeling of the robotic arm. This modeling and analysis approach is tested using a five-degree-of-freedom arm with a gripper style end effector mounted to an iRobot Create mobile platform. The geometric method is easily modifiable for similar robotic system architectures and provides the capability of local autonomy to a system which is very difficult to manually control.http://dx.doi.org/10.1155/2010/984823 |
| spellingShingle | Kurt E. Clothier Ying Shang A Geometric Approach for Robotic Arm Kinematics with Hardware Design, Electrical Design, and Implementation Journal of Robotics |
| title | A Geometric Approach for Robotic Arm Kinematics with Hardware Design, Electrical Design, and Implementation |
| title_full | A Geometric Approach for Robotic Arm Kinematics with Hardware Design, Electrical Design, and Implementation |
| title_fullStr | A Geometric Approach for Robotic Arm Kinematics with Hardware Design, Electrical Design, and Implementation |
| title_full_unstemmed | A Geometric Approach for Robotic Arm Kinematics with Hardware Design, Electrical Design, and Implementation |
| title_short | A Geometric Approach for Robotic Arm Kinematics with Hardware Design, Electrical Design, and Implementation |
| title_sort | geometric approach for robotic arm kinematics with hardware design electrical design and implementation |
| url | http://dx.doi.org/10.1155/2010/984823 |
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