5-DOF serial robot manipulator design, application and inverse kinematic solution through analytical method and simple search technique

Sabri UZUNER, (Duzce University, Cumayeri Vocational School, Department of Electronics and Automation, Duzce, Turkey.)
Nihat AKKUS, (University of Marmara, Faculty of Technology, Department of Mechatronics, Istanbul, Turkey.)
Metin TOZ (Duzce University, Faculty of Technology, Department of Computer, Duzce, Turkey.)
Pamukkale Üniversitesi Mühendislik Bilimleri Dergisi
21 2
Yıl: 2020 Cilt: 26 Sayı: 2 Sayfa Aralığı: 392 - 401 Metin Dili: İngilizce DOI: doi: 10.5505/pajes.2019.95881 İndeks Tarihi: 12-10-2020

5-DOF serial robot manipulator design, application and inverse kinematic solution through analytical method and simple search technique

Öz:
In this study a five Degrees of Freedom (DOF) serial robot manipulatorwas designed and implemented. The inverse kinematics problem, whichhas not exact analytical solution (only one inverse kinematic solutionfor a predefined end effector position in three dimensional space), of therobot mechanism was solved by using the combination of the analyticalmethod and a simple search method. In order to use the proposedmethod in real-time applications, the method is designed so that it canbe used to solve the inverse kinematics problem for the next point of theend-effector while the mechanism is working. Moreover, so that tocontrol the implemented mechanism, a user interface program waswritten by using Visual Basic programming language. Finally, theproposed inverse kinematic solution method was tested on two differenttrajectories, an arc shaped trajectory that composed of 58 points and alinear trajectory divided into 29 points. The obtained results revealedthat the proposed method can be used successfully in solving the inversekinematic problem of the designed mechanism.
Anahtar Kelime:

5 serbestlik dereceli (SD) seri robot manipülatörü tasarımı, uygulaması ve analitik yöntem ve basit arama tekniği yoluyla ters kinematik çözümü

Öz:
manipülatörü tasarlanmış ve test edilmiştir. Robot mekanizmasının kesin analitik çözümü (üç boyutlu uzayda önceden tanımlanmış bir uç işlevcisi konumu için yalnızca bir ters kinematik çözümü) olmayan ters kinematik problemi, analitik yöntem ve bir basit arama metodu kombinasyonu kullanılarak çözülmüştür. Önerilen yöntem, gerçek zamanlı kullanılabilmesi için mekanizma çalışırken uç işlevcinin gideceği bir sonraki nokta için çözüm yapılabilecek şekilde tasarlanmıştır. Gerçekleştirilen mekanizmayı kontrol etmek için Visual Basic programlama dili kullanılarak bir kullanıcı arayüzü programı yazılmıştır. Son olarak, önerilen ters kinematik çözüm yöntemi 58 noktadan oluşan yay şeklinde bir yörünge ve 29 noktaya bölünmüş doğrusal bir yörünge olmak üzere iki farklı yörüngede test edilmiştir. Elde edilen sonuçlar, önerilen yöntemin tasarlanan mekanizmanın ters kinematik problemini çözmede başarıyla kullanılabileceğini ortaya koymuştur.
Anahtar Kelime:

Belge Türü: Makale Makale Türü: Araştırma Makalesi Erişim Türü: Erişime Açık
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APA UZUNER S, akkus n, toz m (2020). 5-DOF serial robot manipulator design, application and inverse kinematic solution through analytical method and simple search technique. , 392 - 401. doi: 10.5505/pajes.2019.95881
Chicago UZUNER SABRI,akkus nihat,toz metin 5-DOF serial robot manipulator design, application and inverse kinematic solution through analytical method and simple search technique. (2020): 392 - 401. doi: 10.5505/pajes.2019.95881
MLA UZUNER SABRI,akkus nihat,toz metin 5-DOF serial robot manipulator design, application and inverse kinematic solution through analytical method and simple search technique. , 2020, ss.392 - 401. doi: 10.5505/pajes.2019.95881
AMA UZUNER S,akkus n,toz m 5-DOF serial robot manipulator design, application and inverse kinematic solution through analytical method and simple search technique. . 2020; 392 - 401. doi: 10.5505/pajes.2019.95881
Vancouver UZUNER S,akkus n,toz m 5-DOF serial robot manipulator design, application and inverse kinematic solution through analytical method and simple search technique. . 2020; 392 - 401. doi: 10.5505/pajes.2019.95881
IEEE UZUNER S,akkus n,toz m "5-DOF serial robot manipulator design, application and inverse kinematic solution through analytical method and simple search technique." , ss.392 - 401, 2020. doi: 10.5505/pajes.2019.95881
ISNAD UZUNER, SABRI vd. "5-DOF serial robot manipulator design, application and inverse kinematic solution through analytical method and simple search technique". (2020), 392-401. https://doi.org/doi: 10.5505/pajes.2019.95881
APA UZUNER S, akkus n, toz m (2020). 5-DOF serial robot manipulator design, application and inverse kinematic solution through analytical method and simple search technique. Pamukkale Üniversitesi Mühendislik Bilimleri Dergisi, 26(2), 392 - 401. doi: 10.5505/pajes.2019.95881
Chicago UZUNER SABRI,akkus nihat,toz metin 5-DOF serial robot manipulator design, application and inverse kinematic solution through analytical method and simple search technique. Pamukkale Üniversitesi Mühendislik Bilimleri Dergisi 26, no.2 (2020): 392 - 401. doi: 10.5505/pajes.2019.95881
MLA UZUNER SABRI,akkus nihat,toz metin 5-DOF serial robot manipulator design, application and inverse kinematic solution through analytical method and simple search technique. Pamukkale Üniversitesi Mühendislik Bilimleri Dergisi, vol.26, no.2, 2020, ss.392 - 401. doi: 10.5505/pajes.2019.95881
AMA UZUNER S,akkus n,toz m 5-DOF serial robot manipulator design, application and inverse kinematic solution through analytical method and simple search technique. Pamukkale Üniversitesi Mühendislik Bilimleri Dergisi. 2020; 26(2): 392 - 401. doi: 10.5505/pajes.2019.95881
Vancouver UZUNER S,akkus n,toz m 5-DOF serial robot manipulator design, application and inverse kinematic solution through analytical method and simple search technique. Pamukkale Üniversitesi Mühendislik Bilimleri Dergisi. 2020; 26(2): 392 - 401. doi: 10.5505/pajes.2019.95881
IEEE UZUNER S,akkus n,toz m "5-DOF serial robot manipulator design, application and inverse kinematic solution through analytical method and simple search technique." Pamukkale Üniversitesi Mühendislik Bilimleri Dergisi, 26, ss.392 - 401, 2020. doi: 10.5505/pajes.2019.95881
ISNAD UZUNER, SABRI vd. "5-DOF serial robot manipulator design, application and inverse kinematic solution through analytical method and simple search technique". Pamukkale Üniversitesi Mühendislik Bilimleri Dergisi 26/2 (2020), 392-401. https://doi.org/doi: 10.5505/pajes.2019.95881
Sayfa Oluşturulma Tarihi
23-04-2024 13:48

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