Solution of The Inverse Kinematic Task of A Robot-Arm Based on A Quasi-Differential Fixed-Point Transformation Method-Reference-Cited by-同舟云学术

Solution of The Inverse Kinematic Task of A Robot-Arm Based on A Quasi-Differential Fixed-Point Transformation Method

Published:2018-10-01 Issue:1 Volume:9 Page:71-74
ISSN:2601-5773
Container-title:Műszaki Tudományos Közlemények
language:en
Short-container-title:

Author:

Faitli Tamás¹,Tar József²

Affiliation:

1. Óbuda University , Donát Bánki Faculty of Mechanical and Safety Engineering , Budapest , Hungary

2. Óbuda University , Antal Bejczy Center for Intelligent Robotics , Budapest , Hungary

Abstract

Abstract While the forward kinematic task of robots can be solved easily through homogenous transformation matrices, the inverse kinematic task leads to difficulties as the construction of the system becomes more complex. In this paper, a solution has been worked out for a three Degree-of-Freedom (DOF) robot-arm based on recent research, by the use of a novel, fixed-point transformation based technique.

Publisher

Muszaki Tudomanyos Kozlemenyek

Subject

General Arts and Humanities

Reference3 articles.

1. [1] B. Csanádi, J. K. Tar, J. F. Bitó: Matrix inversion-free quasi-differential approach in solving the inverse kinematic task. In Proc. of the 17th IEEE International Symposium on Computational Intelligence and Informatics (CINTI 2016), November 17-19, 2016, Budapest, Hungary, 61–66.

2. [2] A. Dineva, J. K. Tar, A. Várkonyi-Kóczy, V. Piuri: Adaptive control of underactuated mechanical systems using improved “Sigmoid Generated Fixed Point Transformation” and scheduling strategy. In Proc. of the 14th IEEE International Symposium on Applied Machine Intelligence and Informatics, January 21-23, 2016, Herlany, Slovakia, 193–197.

3. [3] T. Faitli: Robotkar dinamikai szabályozásának szimulációs összehasonlító vizsgálata “Fixpont transzformációs adaptív” ́s “Fixpont transzformáción alapuló modell referenciás adaptív (MRAC)” szabályozóval, ÓE-BGK Kari TDK Conference, November 15, 2017, Budapest, Hungary.