Solution for Inverse Kinematics of 5 DOF Serial Link MCM Machine-Reference-Cited by-同舟云学术

Solution for Inverse Kinematics of 5 DOF Serial Link MCM Machine

Published:2013-03 Issue: Volume:198 Page:53-58
ISSN:1662-9779
Container-title:Solid State Phenomena
language:
Short-container-title:SSP

Author:

Kozioł Piotr¹,Kukliński Kamil¹,Wolniakowski Adam¹,Miatliuk Konstanty¹

Affiliation:

1. Bialystok University of Technology

Abstract

The paper presents the forward and inverse kinematics problems solution for 5 DoF automated serial link MCM cutting and welding machine. Particularly, the solution was developed for specific application to be implemented in industry. The developing of the mathematical model for control purposes, implementing algorithms for trajectory finding and mathematical model for forward and inverse kinematics solution are described in the work. The solution is presented as simulation in RobWork Studio software [, as well as a 3D interactive animation implemented in specifically developed software environment. The result of given solution are evaluated and directions of further work concerning the implementation of obtained solution in the actual industrial application are defined.

Publisher

Trans Tech Publications, Ltd.

Subject

Condensed Matter Physics,General Materials Science,Atomic and Molecular Physics, and Optics

Link

https://www.scientific.net/SSP.198.53.pdf

Reference8 articles.

1. R.J. Schilling, Fundamentals of Robotics: Chapter 1-4, (1990).

2. Information on: http: /www. robwork. dk/jrobwork.

3. Samuel R. Buss, Introduction to Inverse Kinematics with Jacobian Transpose, Pseudoinverse and Damped Least Squares methods, Department of Mathematics University of California, San Diego La Jolla, October 7, (2009).

4. J. J. Craig, Introduction to Robotics: Mechanics and Control Second Edition, (1989).

5. Information on: http: /www. promotech. eu/products/en/welding_cutting/doc/MCM_-_5_axis_portable_shape_cutting_and_welding_machine. pdf.