Abstract
A vital part of many industrial robot manipulators is to reach required position and orientation of end effectors so as to complete the pre-defined task. To get this, one should have knowledge of kinematics, i.e. inverse kinematics (IK). Though inverse kinematics never gives a closed form solution, it is too difficult to solve such problem of an industrial robot. There are so many analytical and other simulation methods which are adopted to solve this IK problem for our 6-DOF industrial pick and place robot. In this paper, artificial neural networks (ANN) are used and simulated by using MATLAB.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Li, W.J., Song, Z.H., Zhu, Z.X., Mao, E.R.: Analysis and simulation of 6R Robot in virtual Reality. IFAC-PapersOnLine 49(16), 426–430 (2016)
Lazar, C., Burlacu, A., Copot, C.: Predictive Control Architecture for Visual Servoing of Robot Manipulators (2011)
Chen, Q., Zhu, S., Zhang, X.: Improved inverse kinematics algorithm using screw theory for a six-dof robot manipulator. Int. J. Adv. Robot. Syst. (2015)
Duka, A.V.: Anfis Based Solution to the Inverse Kinematics of a 3-DOF Planar Manipulator. INTER-Eng-2014 (2014)
Parhi, D.R., Deepak, B.B.V.L., Nayak, D., Amrit, A.: Forward and inverse kinematic models for and articulated robotic manipulator. Int. J. Artif. Intell. Comput. Res. 4(2) 103–109 (2012)
Dash, K.K., Choudhury, B.B., Khuntia, A.K., Biswal, B.B.: A Neural Network Based Inverse Kinematic Problem. IEEE. 978-1-4244-9477-4/11/$26.00 ©2011
Chandra, R., Rolland, L.: On solving the forward kinematics of 3RPR planar parallel manipulator using hybrid metaheuristics. Appl. Math. Comput. 217(22), 8997–9008 (2011)
Van Henten, E.J., Schenk, E.J., van Willigenburg, L.G., Meuleman, J., Barreiro, P.: Collision-free inverse kinematics of the redundant seven-link manipulator used in a cucumber picking robot. Bio Syst. Eng. 106(2), 112–124 (2010)
Husty, M.L., Pfurner, M., Schröcker, H.: A new and efficient algorithm for the inverse kinematics of a general serial 6R manipulator. Mech. Mach. Theory 42(1), 66–81 (2007)
Srinivas, N., Matthew, A.C., Bryan, A.J., Ian, W.: A geometrical approach to inverse kinematics for continuum manipulators. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France, pp. 3565–3570 (2008)
Iliukhina, V.N., Mitkovskiib, K.B., Bizyanovaa, D.A., Akopyan, A.A.: The modeling of inverse kinematics for 5 DOF manipulator. Procedia Engineering 176, 498–505 (2017)
Khuntia, A.K., Choudhury, B.B., Biswaland, B.B., Dash, K.K.: A Heuristics Based Multi-Robot Task Allocation. IEEE. 978-1-4244-9477-4/11/$26.00 ©2011
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Dash, K.K., Choudhury, B.B., Senapati, S.K. (2019). Inverse Kinematics Solution of a 6-DOF Industrial Robot. In: Nayak, J., Abraham, A., Krishna, B., Chandra Sekhar, G., Das, A. (eds) Soft Computing in Data Analytics . Advances in Intelligent Systems and Computing, vol 758. Springer, Singapore. https://doi.org/10.1007/978-981-13-0514-6_19
Download citation
DOI: https://doi.org/10.1007/978-981-13-0514-6_19
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-13-0513-9
Online ISBN: 978-981-13-0514-6
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)