Title
A comparison among the denavit - hartenberg, the screw theory, and the iterative methods to solve inverse kinematics for assistant robot arm
Date Issued
01 January 2019
Access level
metadata only access
Resource Type
conference paper
Author(s)
Becerra Y.
ARBULU SAAVEDRA, MARIO RICARDO
Soto S.
Martinez F.
Corporacion Unificada Nacional de Educacion Superior
Publisher(s)
Springer Verlag
Abstract
Inverse kinematics solution, for five degree of freedom assistant robot arm, will be described in this work with three different methods. Denavit - Hartenberg approach (D-H), Screw theory and Iterative method will be used. Novel approach of decoupling method will be detailed; after that analytical solution with Paden-Kahan sub problems will be presented, and iterative method will be applied too. Simulations using previous methods will be shown. Finally, results will be compared and discussed.
Start page
447
End page
457
Volume
11655 LNCS
Language
English
OCDE Knowledge area
Robótica, Control automático Estadísticas, Probabilidad
Subjects
DOI
10.1007/978-3-030-26369-0_42
Scopus EID
2-s2.0-85073908375
ISBN
9783030263683
ISSN of the container
03029743
ISBN of the container
978-303026368-3
DOI of the container
10.1007/978-3-030-26369-0_42
Conference
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Source funding
Corporacion Nacional Unificada de Educacion
Corporacion Nacional Unificada de Educacion Superior
Sponsor(s)
Supported by Corporacion Nacional Unificada de Educacion Superior (CUN), Bogota, Colombia. Project: Assistant robot for home and offices. Acknowledgement. Supported by Corporacion Nacional Unificada de Educacion
Sources of information: Directorio de Producción Científica Scopus