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RESEARCH PRODUCT
Inverse Kinematics for a 7 DOF Robotic Arm Using the Redundancy Circle and ANFIS Models
Sever-gabriel RaczOctavian BologaRadu-eugen BreazMihai Crenganissubject
321 kinematic structureAdaptive neuro fuzzy inference systemEngineeringInverse kinematicsbusiness.industryCADGeneral MedicineKinematicsWorkspaceComputer Science::RoboticsControl theoryRedundancy (engineering)businessRobotic armAstrophysics::Galaxy AstrophysicsSimulationdescription
In this paper we have presented a method to solve the inverse kinematics problem of a redundant robotic arm with seven degrees of freedom and a human like workspace based on mathematical equations, ANFIS implementation and Simulink models. For better visualization of the kinematics simulation a CAD model that mimics the real robotic arm was created into SolidWorks® and then the CAD parts were converted into SimMechanics model.
| year | journal | country | edition | language |
|---|---|---|---|---|
| 2014-10-01 | Applied Mechanics and Materials |